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Effective dynamical model for piezoelectric stick-slip actuators in bi-directional motion

机译：双向运动中压电粘滑致动器的有效动力学模型

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摘要

The dynamics of piezoelectric stick-slip actuators is important for structural optimization and positioning control, yet challenging to model because of the potentially inconsistent stepping of these actuators in the forward and backward directions. This step inconsistency is found to be strongly associated with the inconsistent dynamic response of the piezoelectric feeding element arising from the contact behavior between the piezoelectric stack and its flexure-based preload mechanism. With this understanding, an improved dynamical model for the typical stick-slip actuator is established in which a non-smooth contact model is introduced. A prototype was built and tested, and with it the contact behavior was proved to cause the inconsistent responses of the piezoelectric feeding element, which in turn was verified to cause the inconsistent stepping characteristics of the stick-slip actuator. The simulated results obtained using the proposed model were in good agreement with the stepping curves of the slider in bi-directional motion under different working conditions. The proposed model provides a new perspective to explain and model the step inconsistency for stick-slip actuators in bi-directional motion, and has great potential in aiding the design and control of stick-slip actuators for bi-directional driving.
机译：压电粘滑致动器的动态对于结构优化和定位控制很重要，但由于这些致动器在前向和向后方向上的潜在不一致的踩踏而挑战。发现该步骤不一致与压电送料元件产生的压电馈电元件的不一致动力响应强烈地相关联，该压电堆和基于挠曲的预载机构之间的接触行为产生。利用这种理解，建立了典型的粘滑致动器的改进动力学模型，其中引入了非平滑接触模型。构建和测试了原型，并且通过其证明了接触行为以引起压电馈电元件的不一致响应，这又验证了防滑致动器的不一致步进特性。使用所提出的模型获得的模拟结果与在不同工作条件下双向运动中的滑块的踩踏曲线吻合。所提出的模型提供了一种新的视角，用于解释和模拟双向运动中的粘滑致动器的步骤不一致，并且具有很大的潜力，辅助防滑致动器的设计和控制进行双向驱动。

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  • 来源
    《Mechanical systems and signal processing》 |2020年第novaadeca期|106964.1-106964.12|共12页
  • 作者

    Yan Shao; Minglong Xu; Shubao Shao; Siyang Song;

  • 作者单位

    State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi'an Jiaotong University Xi'an 710049 China;

    State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi'an Jiaotong University Xi'an 710049 China;

    State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi'an Jiaotong University Xi'an 710049 China;

    State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi'an Jiaotong University Xi'an 710049 China;

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  • 正文语种 eng
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  • 关键词

    Piezoelectric stick-slip actuator; Dynamical model; Flexure-based preload mechanism; Contact behavior; Bi-directional motion;

    机译：压电钢滑动致动器;动态模型;基于挠性的预载机制;联系行为;双向运动;

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