CN205049973U - Unmanned aerial vehicle flight vibration response's initiative control system - Google Patents
Unmanned aerial vehicle flight vibration response's initiative control system Download PDFInfo
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- CN205049973U CN205049973U CN201520346703.XU CN201520346703U CN205049973U CN 205049973 U CN205049973 U CN 205049973U CN 201520346703 U CN201520346703 U CN 201520346703U CN 205049973 U CN205049973 U CN 205049973U
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Abstract
The utility model discloses an unmanned aerial vehicle flight vibration response's initiative control system, including the unmanned aerial vehicle major structure, the main control system, digital signal generator, a filter amplifier module, the 2nd filter amplifier module, the vibration exciter, piezoceramics stromatolite actuator, the signal conditioning ware, acceleration sensor, harmonic steady state control system, wherein constitute input output circuit by main control system and unmanned aerial vehicle major structure, use the organism structure by main control system output vibration signal earlier, and then the vibrational acceleration signal that the organism produced returns the main control system, play unmanned aerial vehicle vibration control's effect again by the vibration of main control system output control signal control organism. The utility model discloses an unmanned aerial vehicle vibration control system has that the actuator additional mass is light, working frequency band, response speed are fast, follow advantages such as the controllability is strong, control is effectual.
Description
Technical field
The utility model discloses the active control system of a kind of SUAV (small unmanned aerial vehicle) airborne vibration response, relate to FLIGHT VEHICLE VIBRATION control technology field.
Background technology
Because the lightweight flight environment of vehicle of unmanned plane is pneumatic comparatively large, causes unmanned plane body vibration level very high, affect the flying quality of unmanned plane.Therefore, unmanned plane vibration control has very important effect to raising unmanned plane during flying performance.Current, active control of structural responses is considered to the unmanned plane Active Vibration Control new technology of most practical value, effectively can reduce the level of vibration of unmanned plane.But inertia actuator conventional in current unmanned plane vibration active control system or hydraulic actuator, due to shortcomings such as its additional mass are large, working band is narrow, response speed is slow, greatly reduce and constrain the performance of control system and the effect of vibration control.
Piezoelectric ceramics has the charge capability producing and be directly proportional to mechanical pressure, is referred to as direct piezo electric effect; Produce the deformation effect be directly proportional to deformation, be referred to as inverse piezoelectric effect.For the sheet type piezoelectric ceramics polarized at its thickness direction, under electric field action, there is corresponding mathematical relation with applying electric field intensity in the relative change of its thickness.
The piezoelectric type actuator system electric driving element manufactured by piezoelectric, this element without the need to rotary part, but utilizes piezoelectric effect to change its size.Piezoelectric type actuator applies different voltage, and its length will change to some extent.Its variation range can from part micron until the magnitude of millimeter, and maximal tensility and the maximum power output of actuator depend on the structure of element.In theory, the resolution of piezoelectric element is hard-core, and only depends on the stability of implemented voltage, and each change of voltage all will be directly changed into the Linear-moving of actuator, and energy loss is minimum.Therefore, be particularly suitable for applying in aircraft, spacecraft.
Utility model content
The utility model discloses the active control system of a kind of SUAV (small unmanned aerial vehicle) airborne vibration response, there is in conjunction with piezoelectric ceramics lamination actuator the advantages such as quality is light, working band is wide, fast response time, effectively can improve the performance of unmanned plane vibration active control system as efficient actuation element, and significantly improve the effect of unmanned plane vibration control.
For realizing above technical purpose, the utility model adopts following technical scheme:
A kind of active control system of SUAV (small unmanned aerial vehicle) airborne vibration response, comprise unmanned plane agent structure, main control system, digital signal generator, the first filter and amplification module, the second filter and amplification module, vibrator, piezoelectric ceramics lamination actuator, signal conditioner, acceleration transducer and harmonic wave stable state control system, wherein
Described main control system is connected with digital signal generator, harmonic wave stable state control system respectively;
Digital signal generator is connected to unmanned plane agent structure through the first filter and amplification module, vibrator successively;
The output terminal of harmonic wave stable state control system is connected to unmanned plane agent structure through the second filter and amplification module, piezoelectric ceramics lamination actuator successively;
Unmanned plane agent structure is connected with acceleration transducer, and the output of acceleration transducer is through the input of signal conditioner as harmonic wave stable state control system;
Main control system exports vibration signal, vibration signal converts simulating signal to through digital signal generator, simulating signal is through the first filter and amplification module transfer to vibrator, and vibrator action produces exciting force and is applied to unmanned plane agent structure, produces a vibration acceleration signal;
Described vibration acceleration signal is gathered by acceleration transducer, then enters into main control system through signal conditioner, harmonic wave stable state control system;
Main control system is according to the size of body vibration acceleration, export oscillation control signal, described oscillation control signal converts simulating signal to by harmonic wave stable state control system, piezoelectric ceramics lamination actuator is sent to through the second filter and amplification module, piezoelectric ceramics lamination actuator produces to be used as power accordingly and is applied to unmanned plane agent structure, controls the vibration of body.
As further preferred version of the present utility model, described piezoelectric ceramics lamination actuator comprises shell, also comprise the electrode series connection piezoelectric ceramic piece be arranged in shell, electrode parallel piezoelectric potsherd, series-connection power supplies goes between, parallel connection power supply lead-in wire and removable output terminal, described electrode series connection piezoelectric ceramic piece, electrode parallel piezoelectric potsherd is connected successively with removable output terminal, one end and the electrode piezoelectric ceramic piece of connecting of series-connection power supplies lead-in wire are connected, one end that the other end goes between with parallel connection power supply is connected, the other end of parallel connection power supply lead-in wire is connected with electrode parallel piezoelectric potsherd, described shell is connected with electrode between piezoelectric ceramic piece, electrode parallel piezoelectric potsherd and is also filled with insulating material.
As further preferred version of the present utility model, the piezoceramic material of described piezoelectric ceramics lamination actuator is PZT piezoelectric ceramics, and the material of described series-connection power supplies lead-in wire and parallel connection power supply lead-in wire is silver, and described sheathing material is stainless steel.
As further preferred version of the present utility model, described piezoelectric ceramics lamination actuator is directly installed on outside unmanned plane agent structure, or be installed on outside unmanned plane agent structure by bracing or strutting arrangement, or be directly installed between unmanned plane agent structure.
As further preferred version of the present utility model, described acceleration transducer is ICP piezoelectric acceleration sensor, and it is built-in with miniature IC amplifier.
Compared with the unmanned plane vibration active control system of existing employing inertia actuator or hydraulic actuator, the unmanned plane active control of structural responses system of employing piezoelectric ceramics lamination actuator of the present utility model has outstanding advantage: the additional mass of actuator is light, work frequently wide frequency range, to the fast response time of instruction, the advantage such as model-following control ability is strong, vibration control is effective, effectively improve the performance of unmanned plane vibration active control system, and significantly improve the effect of unmanned plane vibration control.
Accompanying drawing explanation
Fig. 1 is control system block diagram of the present utility model;
The structural representation of Fig. 2 piezoelectric ceramics lamination actuator;
In Fig. 3 piezoelectric ceramics lamination actuator, electrode series connection piezoelectric ceramic piece structural representation;
In Fig. 4 piezoelectric ceramics lamination actuator, electrode parallel piezoelectric ceramic chip structure schematic diagram;
Fig. 5 is the acceleration responsive experiment effect figure at single frequency excitation reference mark;
Fig. 6 is the acceleration responsive experiment effect figure at double frequency excitation reference mark;
Fig. 7 is the acceleration responsive experiment effect figure after excitation amplitude changes;
Fig. 8 is the acceleration responsive experiment effect figure after excitation phase changes;
Fig. 9 is the acceleration responsive experiment effect figure after excitation frequency changes;
Wherein: 1. electrode series connection piezoelectric ceramic piece, 2. electrode parallel piezoelectric potsherd, 3. removable output terminal, 4. series-connection power supplies lead-in wire, 5. parallel connection power supply lead-in wire, 6. shell.
Embodiment
Explain the technical solution of the utility model below with reference to accompanying drawing, accompanying drawing discloses the unmanned plane active control of structural responses system of employing piezoelectric ceramics lamination actuator of the present utility model without limitation.
System chart of the present utility model as shown in Figure 1, a kind of active control system of SUAV (small unmanned aerial vehicle) airborne vibration response, comprise unmanned plane agent structure, main control system, digital signal generator, the first filter and amplification module, the second filter and amplification module, vibrator, piezoelectric ceramics lamination actuator, signal conditioner, acceleration transducer and harmonic wave stable state control system, wherein, described main control system is connected with digital signal generator, harmonic wave stable state control system respectively; Digital signal generator is connected to unmanned plane agent structure through the first filter and amplification module, vibrator successively; The output terminal of harmonic wave stable state control system is connected to unmanned plane agent structure through the second filter and amplification module, piezoelectric ceramics lamination actuator successively; Unmanned plane agent structure is connected with acceleration transducer, and the output of acceleration transducer is through the input of signal conditioner as harmonic wave stable state control system; Main control system exports vibration signal, vibration signal converts simulating signal to through digital signal generator, simulating signal is through the first filter and amplification module transfer to vibrator, and vibrator action produces exciting force and is applied to unmanned plane agent structure, produces a vibration acceleration signal; Described vibration acceleration signal is gathered by acceleration transducer, then enters into main control system through signal conditioner, harmonic wave stable state control system; Main control system is according to the size of body vibration acceleration, export oscillation control signal, described oscillation control signal converts simulating signal to by harmonic wave stable state control system, piezoelectric ceramics lamination actuator is sent to through the second filter and amplification module, piezoelectric ceramics lamination actuator produces to be used as power accordingly and is applied to unmanned plane agent structure, controls the vibration of body.
The design of piezoelectric ceramics lamination actuator is one of key link of the present utility model.For the control of fine structure, without the need to large stroke and acting force, therefore piezoceramic material PZT can be adopted to make actuator.When the larger control stroke of needs, the micrometric displacement amount of monolithic piezoelectric ceramic is limited, needs to adopt multi-disc superposition to form piezoelectric ceramics lamination.Electrode can be adopted between piezoelectric ceramic piece in laminated piezoelectric to connect or parallel form.Parallel connection can obtain large charge sensitivity or micrometric displacement stroke, obtains larger displacement by lower control voltage; Cascaded structure can increase element sensitivity, the preferred cascaded structure of the utility model and the combined mode of parallel-connection structure, the control effects of comprehensive utilization piezoelectric ceramics lamination.Fig. 2 is piezoelectric ceramics lamination actuator configurations schematic diagram.Actuator is driven by voltage amplifier by controller, when voltage acts on actuator lamination, actuator length is changed, induces structural strain simultaneously, create control, and its size is determined by the voltage acted on lamination.Electrode array, parallel piezoelectric ceramic chip structure schematic diagram are respectively as shown in Figure 3, Figure 4.Described piezoelectric ceramics lamination actuator comprises shell, also comprise the electrode series connection piezoelectric ceramic piece, electrode parallel piezoelectric potsherd, series-connection power supplies lead-in wire, parallel connection power supply lead-in wire and the removable output terminal that are arranged in shell, described electrode series connection piezoelectric ceramic piece, electrode parallel piezoelectric potsherd are connected successively with removable output terminal, one end and the electrode piezoelectric ceramic piece of connecting of series-connection power supplies lead-in wire are connected, one end that the other end goes between with parallel connection power supply is connected, and the other end of parallel connection power supply lead-in wire is connected with electrode parallel piezoelectric potsherd; Described shell is connected with electrode between piezoelectric ceramic piece, electrode parallel piezoelectric potsherd and is also filled with insulating material.
As further preferred version of the present utility model, the piezoceramic material of described piezoelectric ceramics lamination actuator is PZT piezoelectric ceramics, and the material of described series-connection power supplies lead-in wire and parallel connection power supply lead-in wire is silver, and described sheathing material is stainless steel.
As further preferred version of the present utility model, described piezoelectric ceramics lamination actuator is directly installed on outside unmanned plane agent structure, or be installed on outside unmanned plane agent structure by bracing or strutting arrangement, or be directly installed between unmanned plane agent structure.
As further preferred version of the present utility model, described acceleration transducer is ICP piezoelectric acceleration sensor, and it is built-in with miniature IC amplifier.
Experimental study has been carried out to the unmanned plane active control of structural responses system of employing piezoelectric ceramics lamination actuator described in the utility model.With certain unmanned plane rotor master by frequency 19.5Hz single frequency excitation, decay very soon when control starts after vibration, the level of vibration reached steady state (SS) within 5 second time after reduces 96%, as shown in Figure 5.Pass through frequency 39.0Hz double frequency excitation by frequency 19.5Hz with secondary with main, control effects is still fine, when control beginning after vibration is decayed very soon, reaches more than 95%, as shown in Figure 6 at the attenuation amplitude of 5 second time internal vibration level.In order to investigate the adaptability that control system changes exciting force, adaptive control experimental study is carried out to the change of the amplitude of exciting force, phase place and frequency.System starts to input with the exciting force of 19.5Hz, control during 10s to open, vibration decays very soon, changes exciting force parameter time after decaying and stablizing at 30s, now, structural vibration becomes again large very soon, and active control system, according to the change of structural response, inputs new voltage to piezoelectric ceramics lamination actuator, actuator changes power output, structural response veries fast decay to lower state again, achieves the adaptive control to structural response, as shown in Figure 7.Repeat experiment, change phase place and frequency respectively, obtain same adaptive control effect, respectively as shown in Figure 8 and Figure 9.
Claims (4)
1. the active control system of a SUAV (small unmanned aerial vehicle) airborne vibration response, it is characterized in that: comprise unmanned plane agent structure, main control system, digital signal generator, the first filter and amplification module, the second filter and amplification module, vibrator, piezoelectric ceramics lamination actuator, signal conditioner, acceleration transducer and harmonic wave stable state control system, wherein
Described main control system is connected with digital signal generator, harmonic wave stable state control system respectively;
Digital signal generator is connected to unmanned plane agent structure through the first filter and amplification module, vibrator successively;
The output terminal of harmonic wave stable state control system is connected to unmanned plane agent structure through the second filter and amplification module, piezoelectric ceramics lamination actuator successively;
Unmanned plane agent structure is connected with acceleration transducer, and the output of acceleration transducer is through the input of signal conditioner as harmonic wave stable state control system;
Main control system exports vibration signal, vibration signal converts simulating signal to through digital signal generator, simulating signal is through the first filter and amplification module transfer to vibrator, and vibrator action produces exciting force and is applied to unmanned plane agent structure, produces a vibration acceleration signal;
Described vibration acceleration signal is gathered by acceleration transducer, then enters into main control system through signal conditioner, harmonic wave stable state control system;
Main control system is according to the size of body vibration acceleration, export oscillation control signal, described oscillation control signal converts simulating signal to by harmonic wave stable state control system, piezoelectric ceramics lamination actuator is sent to through the second filter and amplification module, piezoelectric ceramics lamination actuator produces to be used as power accordingly and is applied to unmanned plane agent structure, controls the vibration of body;
Described piezoelectric ceramics lamination actuator comprises shell, also comprise the electrode series connection piezoelectric ceramic piece, electrode parallel piezoelectric potsherd, series-connection power supplies lead-in wire, parallel connection power supply lead-in wire and the removable output terminal that are arranged in shell, described electrode series connection piezoelectric ceramic piece, electrode parallel piezoelectric potsherd are connected successively with removable output terminal, one end and the electrode piezoelectric ceramic piece of connecting of series-connection power supplies lead-in wire are connected, one end that the other end goes between with parallel connection power supply is connected, and the other end of parallel connection power supply lead-in wire is connected with electrode parallel piezoelectric potsherd; Described shell is connected with electrode between piezoelectric ceramic piece, electrode parallel piezoelectric potsherd and is also filled with insulating material.
2. the active control system of a kind of SUAV (small unmanned aerial vehicle) airborne vibration response as claimed in claim 1, it is characterized in that: the piezoceramic material of described piezoelectric ceramics lamination actuator is PZT piezoelectric ceramics, the material of described series-connection power supplies lead-in wire and parallel connection power supply lead-in wire is silver, and described sheathing material is stainless steel.
3. the active control system of a kind of SUAV (small unmanned aerial vehicle) airborne vibration response as claimed in claim 1, it is characterized in that: described piezoelectric ceramics lamination actuator is directly installed on outside unmanned plane agent structure, or be installed on outside unmanned plane agent structure by bracing or strutting arrangement, or be directly installed between unmanned plane agent structure.
4. the active control system of a kind of SUAV (small unmanned aerial vehicle) airborne vibration response as claimed in claim 1, it is characterized in that: described acceleration transducer is ICP piezoelectric acceleration sensor, it is built-in with miniature IC amplifier.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898684A (en) * | 2015-05-26 | 2015-09-09 | 金陵科技学院 | Active control system for flying vibration response of mini unmanned plane |
| CN110488882A (en) * | 2019-08-16 | 2019-11-22 | 西安邮电大学 | Piezoelectricity semi-active vibration control experimental provision and method based on acceleration detection |
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2015
- 2015-05-26 CN CN201520346703.XU patent/CN205049973U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898684A (en) * | 2015-05-26 | 2015-09-09 | 金陵科技学院 | Active control system for flying vibration response of mini unmanned plane |
| CN110488882A (en) * | 2019-08-16 | 2019-11-22 | 西安邮电大学 | Piezoelectricity semi-active vibration control experimental provision and method based on acceleration detection |
| CN110488882B (en) * | 2019-08-16 | 2020-11-24 | 西安邮电大学 | Experimental method for piezoelectric semi-active vibration control based on acceleration detection |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 Termination date: 20200526 |