• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报

• 机械动力学 • 上一篇    下一篇

新型弹载压电舵机驱动器方案设计及力学分析

胡凯明,  文立华   

  1. 西北工业大学航天学院  西安  710072
  • 收稿日期:2015-03-09 修回日期:2015-07-08 出版日期:2015-11-05 发布日期:2015-11-05
  • 通讯作者: 胡凯明,男,1985年出生,博士研究生。主要研究方向为智能材料驱动器。 E-mail:hzhkm1985@126.com
  • 作者简介:胡凯明,男,1985年出生,博士研究生。主要研究方向为智能材料驱动器。 E-mail:hzhkm1985@126.com

 
Scheme Design and Mechanical Analysis about New-type Bullet Based Piezoelectric Rudder Actuator

HU Kaiming,  WEN Lihua   

  1. School of Astronautic, Northwestern Polytechnical University, Xi’an 710072
  • Received:2015-03-09 Revised:2015-07-08 Online:2015-11-05 Published:2015-11-05

摘要:

为了同时增大压电双晶片驱动器的输出位移和输出力矩,并提高弹药内部的空间利用率,提出一种新型弹载后屈曲预压缩压电双晶片(Post-buckling pre-compression, PBP)舵机驱动器方案。该驱动器通过压电双晶片的层叠来增大驱动器设计空间,再利用一组角位移连杆放大机构来调整其设计空间,进而达到同时增大输出位移和力矩的目的。对驱动器建立了测量输出力矩的静力学数值模型以及端部带有舵面的刚柔耦合拉格朗日动力学方程及其有限元模型。通过静力学分析、强度校核以及瞬态动力学分析,得到数值结果和有限元结果,两者总体符合程度较好。静力学结果表明,新型PBP驱动器较原PBP驱动器同时增大了输出转角和力矩,设计空间增大了80%以上,并且在最大输出力矩情况下,各部件满足强度要求;动力学结果给出了驱动器机构内部的能量传输及分配特性,以转动惯量为1×10-2 kg·mm2舵面作为驱动对象时,控制带宽可达到300 Hz,明显优于普通微型伺服舵机。因此所设计的方案可以为以内部空间狭小、高控制带宽为特征的各类微小飞行器(Micro aerial vehicle, MAV)舵机驱动器的研制提供参考。

关键词: 刚柔耦合, 拉格朗日方程, 设计空间, 微小型飞行器, 压电双晶片驱动器

Abstract:

In order to magnify the output angular and torque of piezoelectric bimorph simultaneously, and increase the space utilization of ammunition inside, one new-type scheme of the bullet based post-buckling pre-compression (PBP) piezoelectric bimorph rudder actuator is proposed. The design space of actuator is increased by multi-bimorph stacked, and adjusted by angular magnified connecting rod mechanism, thus the goal of increasing the output angular and torque at the same time is achieved. The statics numerical model of measuring output torque, the rigid-flexible coupling Lagrange dynamic equation of the actuator and their FEM model are founded. By statics analysis, structural strength check, and the transient dynamic analysis, the numerical and FEM results are obtained, which conforms to each other comparatively well. Statics results show that, comparing to original PBP, the output angular and torque of new-type PBP are magnified and the design space is amplified more than 80%. In case of the maximum output torque, strength requirements of each part are achieved. The dynamics results show the transfer and distribution of interior energy of actuator. Taking the rudder with the rotary inertia of 1×10-2 kg·mm2 as the driving object, the control bandwidth reaches 300 Hz, which is much better than those of the ordinary micro-servo-actuator. Therefore, this new-type PBP actuator scheme can provide reference to the development of kinds of micro aerial vehicle (MAV)s rudder actuators characterized by narrow interior space and high control bandwidth.

Key words: design space, Lagrange equation, micro aerial vehicle (MAV), rigid-flexible coupling, piezoelectric bimorph actuator