Chaotic motion and quasi-periodic motion are two common forms of instability in the giant magnetostrictive actuator(GMA).Therefore,in the present study we intend to investigate the influences of the system damping coe...Chaotic motion and quasi-periodic motion are two common forms of instability in the giant magnetostrictive actuator(GMA).Therefore,in the present study we intend to investigate the influences of the system damping coefficient,system stiffness coefficient,disc spring cubic stiffness factor,and the excitation force and frequency on the output stability and the hysteresis vibration of the GMA.In this regard,the nonlinear piezomagnetic equation,Jiles-Atherton hysteresis model,quadratic domain rotation model,and the GMA structural dynamics are used to establish the mathematical model of the hysteresis vibration system of the GMA.Moreover,the multi-scale method and the singularity theory are used to determine the co-dimensional two-bifurcation characteristics of the system.Then,the output response of the system is simulated to determine the variation range of each parameter when chaos is imposed.Finally,the fourth-order Runge-Kutta method is used to obtain the time domain waveform,phase portrait and Poincarémapping diagrams of the system.Subsequently,the obtained three graphs are analyzed.The obtained results show that when the system output is stable,the variation range of each parameter can be determined.Moreover,the stability interval of system damping coefficient,system stiffness coefficient,and the coefficient of the cubic stiffness term of the disc spring are obtained.Furthermore,the stability interval of the exciting force and the excitation frequency are determined.展开更多
Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted probl...Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted problems in a large system. This paper aims to develop a self-sensing GMA. An observer based on piezomagnetic equations is constructed to estimate the stress and strain of the magnetostrictive material. The observer based self-sensing approach depends on the facts that the magnetic field is controllable and that the magnetic induction is measurable. Aiming at the nonlinear hysteresis in magnetization, a hys- teresis compensation observer based on Preisach model is developed. Experiment verified the availability of the observer approach, and the hysteresis compensation observer has higher tracking precision than linear observer for dynamic force sensing.展开更多
A new method to drive and control micro in-pipe robot by means of magneticfield outside pipe is put forward, in which wireless micro robot can move forward driven by thevibration of its legs through converting magneti...A new method to drive and control micro in-pipe robot by means of magneticfield outside pipe is put forward, in which wireless micro robot can move forward driven by thevibration of its legs through converting magnetic energy into mechanical one under the action ofpiezomagnetism and magnetomechanical coupling of its micro GMA, when time varied oscillatingmagnetic field with different frequency applied outside pipe. Firstly its systematical structure andoperation principle are introduced, and energy converting process from outside magnetic one intomechanical one is analyzed through setting up the magnetic and mechanical dynamic model of GMA andestablishing dynamic model of two stage amplifier of mobile earner. Robot systematical experimentsshow the correctness of the theoretical analysis and its feasibility. As a result, drive and controlmethod without cable through outside magnetic field is realized.展开更多
为改善磁路环境,提高超磁致伸缩材料(GMM)的工作性能,在分析超磁致伸缩作动器(GMA)工作原理及GMM特性的基础上提出以减小磁漏、增大磁场强度和提高磁场强度均匀性为设计原则,将GMM棒中轴线上的磁场强度作为评价标准.基于ansoft maxwell...为改善磁路环境,提高超磁致伸缩材料(GMM)的工作性能,在分析超磁致伸缩作动器(GMA)工作原理及GMM特性的基础上提出以减小磁漏、增大磁场强度和提高磁场强度均匀性为设计原则,将GMM棒中轴线上的磁场强度作为评价标准.基于ansoft maxwell对磁路进行电磁学有限元分析,得出磁路中的关键部件导磁端盖和导磁片的结构参数对磁场强度大小和均匀性的影响规律,结合高斯磁通理论分析产生这种现象的原因,在此基础上对结构参数进行设计优化.实验结果显示结构参数优化后GMM棒中轴线上的最大磁场强由55.4 k A/m增大到70.35 k A/m,增幅为26.98%,磁场均匀率由44.22%增大到99.5%.研究表明:导磁端盖主要用来减小磁漏、提高磁场强度且过大或过小的直径和厚度都将会导致漏磁增多,U型导磁片主要用来改善磁路环境、提高磁场强度的均匀性.展开更多
基金Project supported by the Science Fund from the Ministry of Science and Technology of China(Grant No.2017M010660)the Major Project of the Inner Mongolia Autonomous Region,China(Grant No.2018ZD10).
文摘Chaotic motion and quasi-periodic motion are two common forms of instability in the giant magnetostrictive actuator(GMA).Therefore,in the present study we intend to investigate the influences of the system damping coefficient,system stiffness coefficient,disc spring cubic stiffness factor,and the excitation force and frequency on the output stability and the hysteresis vibration of the GMA.In this regard,the nonlinear piezomagnetic equation,Jiles-Atherton hysteresis model,quadratic domain rotation model,and the GMA structural dynamics are used to establish the mathematical model of the hysteresis vibration system of the GMA.Moreover,the multi-scale method and the singularity theory are used to determine the co-dimensional two-bifurcation characteristics of the system.Then,the output response of the system is simulated to determine the variation range of each parameter when chaos is imposed.Finally,the fourth-order Runge-Kutta method is used to obtain the time domain waveform,phase portrait and Poincarémapping diagrams of the system.Subsequently,the obtained three graphs are analyzed.The obtained results show that when the system output is stable,the variation range of each parameter can be determined.Moreover,the stability interval of system damping coefficient,system stiffness coefficient,and the coefficient of the cubic stiffness term of the disc spring are obtained.Furthermore,the stability interval of the exciting force and the excitation frequency are determined.
基金Project supported by the National Natural Science Foundation ofChina (No. 50105019)the China Postdoctoral Science Foundation (No. 20060390337)
文摘Giant magnetostrictive actuators (GMAs) often work in a close-loop feedback system. This system needs independent sensors which may be difficult to be fixed, besides, excessive sensors may cause more unpredicted problems in a large system. This paper aims to develop a self-sensing GMA. An observer based on piezomagnetic equations is constructed to estimate the stress and strain of the magnetostrictive material. The observer based self-sensing approach depends on the facts that the magnetic field is controllable and that the magnetic induction is measurable. Aiming at the nonlinear hysteresis in magnetization, a hys- teresis compensation observer based on Preisach model is developed. Experiment verified the availability of the observer approach, and the hysteresis compensation observer has higher tracking precision than linear observer for dynamic force sensing.
基金This project is supported by National Natural Science Foundation of China (No.60275034) and Provincical Natural Science Foundation of Liaoning (No. 20032119)
文摘A new method to drive and control micro in-pipe robot by means of magneticfield outside pipe is put forward, in which wireless micro robot can move forward driven by thevibration of its legs through converting magnetic energy into mechanical one under the action ofpiezomagnetism and magnetomechanical coupling of its micro GMA, when time varied oscillatingmagnetic field with different frequency applied outside pipe. Firstly its systematical structure andoperation principle are introduced, and energy converting process from outside magnetic one intomechanical one is analyzed through setting up the magnetic and mechanical dynamic model of GMA andestablishing dynamic model of two stage amplifier of mobile earner. Robot systematical experimentsshow the correctness of the theoretical analysis and its feasibility. As a result, drive and controlmethod without cable through outside magnetic field is realized.
文摘为改善磁路环境,提高超磁致伸缩材料(GMM)的工作性能,在分析超磁致伸缩作动器(GMA)工作原理及GMM特性的基础上提出以减小磁漏、增大磁场强度和提高磁场强度均匀性为设计原则,将GMM棒中轴线上的磁场强度作为评价标准.基于ansoft maxwell对磁路进行电磁学有限元分析,得出磁路中的关键部件导磁端盖和导磁片的结构参数对磁场强度大小和均匀性的影响规律,结合高斯磁通理论分析产生这种现象的原因,在此基础上对结构参数进行设计优化.实验结果显示结构参数优化后GMM棒中轴线上的最大磁场强由55.4 k A/m增大到70.35 k A/m,增幅为26.98%,磁场均匀率由44.22%增大到99.5%.研究表明:导磁端盖主要用来减小磁漏、提高磁场强度且过大或过小的直径和厚度都将会导致漏磁增多,U型导磁片主要用来改善磁路环境、提高磁场强度的均匀性.
