CN108750079A - Piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control - Google Patents

Piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control Download PDF

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Publication number
CN108750079A
CN108750079A CN201810303224.8A CN201810303224A CN108750079A CN 108750079 A CN108750079 A CN 108750079A CN 201810303224 A CN201810303224 A CN 201810303224A CN 108750079 A CN108750079 A CN 108750079A
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CN
China
Prior art keywords
piezoelectric actuator
vibration control
lifting airscrew
hysteresis compensation
retardant curve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810303224.8A
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Chinese (zh)
Inventor
陈远晟
石泽轩
裘进浩
应展烽
张旭东
徐冰
董妍男
赵荪翀
杨国文
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NANJING HAOZHIDE INTELLIGENT TECHNOLOGY Co Ltd
Nanjing University of Science and Technology
Original Assignee
NANJING HAOZHIDE INTELLIGENT TECHNOLOGY Co Ltd
Nanjing University of Science and Technology
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Application filed by NANJING HAOZHIDE INTELLIGENT TECHNOLOGY Co Ltd, Nanjing University of Science and Technology filed Critical NANJING HAOZHIDE INTELLIGENT TECHNOLOGY Co Ltd
Priority to CN201810303224.8A priority Critical patent/CN108750079A/en
Publication of CN108750079A publication Critical patent/CN108750079A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/001—Vibration damping devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/51—Damping of blade movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/72—Means acting on blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/001—Vibration damping devices
    • B64C2027/004—Vibration damping devices using actuators, e.g. active systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/72—Means acting on blades
    • B64C2027/7205—Means acting on blades on each blade individually, e.g. individual blade control [IBC]
    • B64C2027/7261—Means acting on blades on each blade individually, e.g. individual blade control [IBC] with flaps
    • B64C2027/7266—Means acting on blades on each blade individually, e.g. individual blade control [IBC] with flaps actuated by actuators
    • B64C2027/7283—Means acting on blades on each blade individually, e.g. individual blade control [IBC] with flaps actuated by actuators of the piezoelectric type

Abstract

The invention discloses a kind of piezoelectric actuator hysteresis compensation methods for lifting airscrew vibration control, it will be mounted on lifting airscrew for the piezoelectric actuator of lifting airscrew vibration control, piezoelectric actuator hysteresis compensation method is combined with the vibrating controller of lifting airscrew, compensates the Hysteresis Nonlinear effect of piezoelectric actuator；Hysteresis compensation device, which is inputed to, by the expectation angle of flap deflection degree for exporting vibrating controller obtains driving voltage, angle of flap deflection degree and corresponding hub load are obtained to complete the control of input and output by piezoelectric actuator again, realize the vibration control of lifting airscrew.The present invention realizes the hysteresis compensation of the piezoelectric actuator of lifting airscrew vibration control, improves the performance of lifting airscrew vibration control system, has important theory value and practical value.

Description

Piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control
Technical field
The present invention relates to a kind of piezoelectric actuator hysteresis compensation methods, and in particular to one kind is for lifting airscrew vibration control The piezoelectric actuator hysteresis compensation method of system.
Background technology
Helicopter has obtained extensively due to it is with the flight performances such as VTOL and hovering in dual-use field General concern and application.With the development of aircraft industry, for helicopter provide the rotor system of major impetus also constantly push away it is old Go out new.Helicopter subjects periodic oscillating load in flight always, is mainly derived from the vibration of rotor.It is vibrated by rotor Caused body vibration not only affects driving comfort level, will also result in serious vibration problem, such as structural fatigue longevity sometimes Life reduction and equipment dependability deficiency etc..
In general, requirement of the lifting airscrew vibration control system to driver is relatively high, driver, which will have, to be pushed away greatly The characteristic of power, big displacement, small size and high response frequency.Inverse piezoelectricity effect of the piezoelectric ceramic actuator based on piezoceramic material It answers, realizes the conversion of electric energy and mechanical energy.It has many advantages, such as small, light weight, responds fast, bandwidth, is widely answered For in vibration control field.Using the active control trailing edge flap method of piezoceramic material due to can adapt to different behaviour Make condition and has good performance in terms of lifting airscrew vibration control.After piezoelectric actuator can be to a certain extent The deflection of edge wing flap provides power output and output displacement, however piezoelectric ceramic actuator has that driving force is larger and drive displacement is small The characteristics of, drive displacement must amplify the displacement that could meet and need.Due to frictional dissipation, the hesitation in enlarger can To be coupled strongly with the hesitation of piezoelectric material.However most of lifting airscrew Study on Vibration Control have ignored Piezoelectric Driving The adverse effect that device hesitation generates vibration control system, material is sluggish and mechanical hysteresis effect can be generated in output end The relevant phase shift of amplitude, so as to cause opened loop control inaccuracy, in some instances it may even be possible to lead to closed-loop control unstability.Because of a kind of pressure of the invention Electric drive hysteresis compensation algorithm and the hesitation that piezoelectric actuator is fully compensated, to improving lifting airscrew vibration control system The performance of system is of great significance to weaken the vibration of lifting airscrew.
Invention content
The purpose of the present invention is to provide a kind of piezoelectric actuator hysteresis compensation sides for lifting airscrew vibration control Method.
Realize that the technical solution of the object of the invention is：A kind of piezoelectric actuator for lifting airscrew vibration control is sluggish Compensation method will be mounted on lifting airscrew for the piezoelectric actuator of lifting airscrew vibration control, and piezoelectric actuator is sluggish Compensation method is combined with the vibrating controller of lifting airscrew, compensates the Hysteresis Nonlinear effect of piezoelectric actuator.
Compared with prior art, remarkable advantage of the invention is：The present invention realizes lifting airscrew vibration control system The hysteresis compensation of middle piezoelectric actuator improves the performance of lifting airscrew vibration control system, has important theory value And practical value.
Description of the drawings
Fig. 1 is the position view of the embodiment of the present invention.
Fig. 2 be the present embodiments relate to each module diagram.
Specific implementation mode
A kind of piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control will be used for lifting airscrew and shake The piezoelectric actuator of dynamic control is mounted on lifting airscrew, the vibration control of piezoelectric actuator hysteresis compensation method and lifting airscrew Device processed is combined, and compensates the Hysteresis Nonlinear effect of piezoelectric actuator.
Hysteresis compensation device, which is inputed to, by the expectation angle of flap deflection degree for exporting vibrating controller obtains driving voltage, then Angle of flap deflection degree and corresponding hub load are obtained by piezoelectric actuator to complete the control of input and output, realize helicopter The vibration control of rotor.
Hysteresis compensation algorithm uses closest match algorithm, is found closest to desired output by constantly iterating to calculate Corresponding input；Closest match algorithm includes the following steps：
Step 1, the input-output characteristic for testing piezoelectric actuator describes piezoelectric actuator with classical Preisach model Hysteresis Nonlinear process, and the Preisach model discretization that will recognize parameter, wherein Preisach model are expressed as：δ= Γ (u), u is driver input voltage in formula, and δ is that driver exports angle of flap deflection degree, and Γ is Preisach operators； After Preisach model discretization, control source u can only from finite aggregate U={ u, 1≤l≤L } value, wherein L be from The voltage subscript upper limit of dispersion；
Step 2, real-time vibration control system enables n=0 first in a certain sampling instant, compares δ(0)And δ*：If δ(0)=δ*, Then enable u*=u(0), φ*=φ(0), go to step 9；If δ(0)<δ*, step 3 is gone to, step 6 is otherwise gone to；Wherein, n is to count Variable, φ(0)For initial retardant curve, u(0)It is inputted for initial voltage, δ(0)Initially to export, φ*It is expected retardant curve, u*For It is expected that control source, δ*For desired output；
Step 3, if u(n)=uL, then u is enabled*=u(n), φ*=φ(n), go to step 9；Otherwise u is enabled(n+1)=u(n)+ △ u,Retardant curve is preserved, n=n+1 goes to step 4；Wherein,For unit voltage increment, u(n)For n-th Control source, φ(n)For the retardant curve of n-th, u1For the lower voltage limit of discretization, uLFor the upper voltage limit of discretization；
Step 4, δ is calculated(n)=Γ (u(n)；φ(n-1)) and real-time update retardant curve φ(n), compare δ(n)And δ*：If δ(n) =δ*, enable u*=u(n), φ*=φ(n), go to step 9；If δ(n)<δ*, go to step 3；Otherwise, step 5 is gone to；Wherein, δ(n) For the output of n-th；
Step 5, if | δ(n)-δ*|≤|δ(n-1)-δ*|, enable u*=u (n), φ*=φ(n), go to step 9；Otherwise u is enabled*=u(n-1),Retardant curve is preserved, step 9 is gone to；
Step 6, if u(n)=u1, enable u*=u(n), φ*=φ(n), go to step 9；Otherwise u is enabled(n+1)=u(n)- △ u,Retardant curve is preserved, n=n+1 goes to step 7；
Step 7, δ is calculated(n)=Γ (u(n)；φ(n-1)) and real-time update retardant curve φ(n), compare δ(n)And δ*：If δ(n) =δ*, enable u*=u(n), φ*=φ(n), go to step 9；If δ(n)>δ*, go to step 6；Otherwise, step 8 is gone to；
Step 8, if | δ(n)-δ*|≤|δ(n-1)-δ*|, enable u*=u (n), φ*=φ(n), go to step 9；Otherwise u is enabled*=u(n-1),Again retardant curve is preserved, step 9 is gone to；
Step 9, algorithm terminates.
The present invention is described in detail with reference to the accompanying drawings and examples.
Embodiment
In conjunction with Fig. 1, a kind of piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control, the vibration of rotor Controlled by vibrating controller, wherein piezoelectric actuator be mounted on lifting airscrew, piezoelectric actuator hysteresis compensation method with The vibrating controller of lifting airscrew is combined, and compensates the Hysteresis Nonlinear effect of piezoelectric actuator.By by vibrating controller The expectation angle of flap deflection degree of output inputs to hysteresis compensation device and obtains driving voltage, then obtains angle of flap deflection by driver Degree and corresponding hub load are to complete the control of input and output, to realize the vibration control of lifting airscrew.
In conjunction with Fig. 2, the lagging characteristics of piezoelectric actuator are described with classical Preisach model, and will recognize parameter Preisach model discretization, hysteresis compensation algorithm use closest match algorithm, are most connect by constantly iterating to calculate with finding Input corresponding to nearly desired output.Using aeroelastic analysis lifting airscrew vibration calculating model.
Consider the situation of two kinds of piezoelectric actuator hysteresis compensations：
Situation (1)：Compensator is based on complete piezoelectric actuator Nonlinear Design；
Situation (2)：Hysteresis compensation is not carried out to driver, output voltage directly acts on pressure after amplifying circuit Electric drive does not consider the influence of Hysteresis Nonlinear；
Situation (1) is farthest reduced compared to situation (2), propeller hub vibration from normal condition, vibrating controller precision Higher, vibration control effect are more preferable.
The part of piezoelectric actuator hesitation compensates or uncompensation cannot farthest weaken shaking for lifting airscrew It is dynamic.Therefore the performance of actuator material sluggishness and mechanical hysteresis effect to raising lifting airscrew vibration control system is fully compensated Vibration to mitigate propeller hub has vital effect.

Claims (3)

1. a kind of piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control, which is characterized in that will be used for straight The piezoelectric actuator for rising machine rotor vibration control is mounted on lifting airscrew, and piezoelectric actuator hysteresis compensation method is revolved with helicopter The vibrating controller of the wing is combined, and compensates the Hysteresis Nonlinear effect of piezoelectric actuator.
2. the piezoelectric actuator hysteresis compensation method according to claim 1 for lifting airscrew vibration control, special Sign is that inputing to hysteresis compensation device by the expectation angle of flap deflection degree for exporting vibrating controller obtains driving voltage, then Angle of flap deflection degree and corresponding hub load are obtained by piezoelectric actuator to complete the control of input and output, realize helicopter The vibration control of rotor.
3. the piezoelectric actuator hysteresis compensation method according to claim 1 or 2 for lifting airscrew vibration control, It is characterized in that, hysteresis compensation algorithm uses closest match algorithm, is found closest to desired defeated by constantly iterating to calculate Go out corresponding input；Closest match algorithm includes the following steps：
Step 1, the input-output characteristic for testing piezoelectric actuator describes the sluggishness of piezoelectric actuator with classical Preisach model Non-linear process, and the Preisach model discretization that will recognize parameter, wherein Preisach model are expressed as：δ=Γ (u), u is driver input voltage in formula, and δ is that driver exports angle of flap deflection degree, and Γ is Preisach operators；Preisach After model discretization, control source u can only value, wherein L be the electricity of discretization from finite aggregate U={ u, 1≤l≤L } Limit is put in pressure；
Step 2, real-time vibration control system enables n=0 first in a certain sampling instant, compares δ(0)And δ*：If δ(0)=δ*, then enable u*=u(0), φ*=φ(0), go to step 9；If δ(0)<δ*, step 3 is gone to, step 6 is otherwise gone to；Wherein, n is counting variable, φ(0)For initial retardant curve, u(0)It is inputted for initial voltage, δ(0)Initially to export, φ*It is expected retardant curve, u*It is expected Control source, δ*For desired output；
Step 3, if u(n)=uL, then u is enabled*=u(n), φ*=φ(n), go to step 9；Otherwise u is enabled(n+1)=u(n)+ △ u,Retardant curve is preserved, n=n+1 goes to step 4；Wherein,For unit voltage increment, u(n)For n-th Control source, φ(n)For the retardant curve of n-th, u1For the lower voltage limit of discretization, uLFor the upper voltage limit of discretization；
Step 4, δ is calculated(n)=Γ (u(n)；φ(n-1)) and real-time update retardant curve φ(n), compare δ(n)And δ*：If δ(n)=δ*, Enable u*=u(n), φ*=φ(n), go to step 9；If δ(n)<δ*, go to step 3；Otherwise, step 5 is gone to；Wherein, δ(n)It is n-th Secondary output；
Step 5, if | δ(n)-δ*|≤|δ(n-1)-δ*|, enable u*=u(n), φ*=φ(n), go to step 9；Otherwise u is enabled*=u(n-1),Retardant curve is preserved, step 9 is gone to；
Step 6, if u(n)=u1, enable u*=u(n), φ*=φ(n), go to step 9；Otherwise u is enabled(n+1)=u(n)- △ u, Retardant curve is preserved, n=n+1 goes to step 7；
Step 7, δ is calculated(n)=Γ (u(n)；φ(n-1)) and real-time update retardant curve φ(n), compare δ(n)And δ*：If δ(n)=δ*, Enable u*=u(n), φ*=φ(n), go to step 9；If δ(n)>δ*, go to step 6；Otherwise, step 8 is gone to；
Step 8, if | δ(n)-δ*|≤|δ(n-1)-δ*|, enable u*=u(n), φ*=φ(n), go to step 9；Otherwise u is enabled*=u(n-1),Again retardant curve is preserved, step 9 is gone to；
Step 9, algorithm terminates.
CN201810303224.8A 2018-04-07 2018-04-07 Piezoelectric actuator hysteresis compensation method for lifting airscrew vibration control Pending CN108750079A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114412953A (en) * 2021-12-24 2022-04-29 南京航空航天大学 Helicopter rotor piezoelectric film vibration suppression structure and method based on passive control

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EP2299308A1 (en) * 2009-09-16 2011-03-23 BAE Systems PLC Compensation for hysteresis
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CN106516104A (en) * 2016-11-30 2017-03-22 哈尔滨工业大学 Device for reducing rotor wing vibration
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US20170190414A1 (en) * 2015-08-18 2017-07-06 Sikorsky Aircraft Corporation Rotor damping
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EP2299308A1 (en) * 2009-09-16 2011-03-23 BAE Systems PLC Compensation for hysteresis
JP2014240215A (en) * 2013-06-11 2014-12-25 本田技研工業株式会社 Cargo compartment structure for vehicle
CN106794898A (en) * 2015-04-21 2017-05-31 阿加斯塔西部有限公司 Helicopter wing with trailing edge flap
US20170190414A1 (en) * 2015-08-18 2017-07-06 Sikorsky Aircraft Corporation Rotor damping
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114412953A (en) * 2021-12-24 2022-04-29 南京航空航天大学 Helicopter rotor piezoelectric film vibration suppression structure and method based on passive control

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Application publication date: 20181106