實驗名稱：壓電驅動器輸出力遲滯效應研究(jiu)

　　研究方向：壓(ya)電(dian)陶(tao)瓷驅動(dong)器(qi)(qi)能提(ti)供微米級的(de)(de)行程，有高速響(xiang)應、體(ti)積小、高工作帶寬(kuan)的(de)(de)優點，因(yin)此壓(ya)電(dian)陶(tao)瓷驅動(dong)器(qi)(qi)廣泛應用在高精(jing)度系統的(de)(de)部件當中(zhong)。由于(yu)壓(ya)電(dian)陶(tao)瓷驅動(dong)器(qi)(qi)遲滯(zhi)現(xian)象的(de)(de)影(ying)響(xiang)，且遲滯(zhi)現(xian)象隨輸入(ru)電(dian)壓(ya)的(de)(de)頻率增大而更(geng)加明顯，當工作頻率在較大范圍變(bian)化時，遲滯(zhi)現(xian)象會嚴重影(ying)響(xiang)控制精(jing)度。

　　壓電(dian)陶(tao)瓷驅(qu)動(dong)器(qi)由于(yu)(yu)(yu)極化過程的(de)(de)(de)(de)影響，其(qi)遲(chi)滯(zhi)(zhi)(zhi)非(fei)線性(xing)(xing)是(shi)(shi)材(cai)料(liao)本身(shen)的(de)(de)(de)(de)固(gu)有(you)特(te)性(xing)(xing)，這種非(fei)線性(xing)(xing)會造成控(kong)制(zhi)系(xi)統穩定性(xing)(xing)的(de)(de)(de)(de)下(xia)降(jiang)，難(nan)以確(que)(que)定合適的(de)(de)(de)(de)控(kong)制(zhi)參數(shu)，嚴重時會造成控(kong)制(zhi)系(xi)統不(bu)穩定的(de)(de)(de)(de)嚴重后(hou)果。對于(yu)(yu)(yu)壓電(dian)陶(tao)瓷的(de)(de)(de)(de)遲(chi)滯(zhi)(zhi)(zhi)特(te)性(xing)(xing)非(fei)線性(xing)(xing)建模(mo)(mo)及(ji)控(kong)制(zhi)方法的(de)(de)(de)(de)研(yan)(yan)究，一(yi)般需要對遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)建立精確(que)(que)模(mo)(mo)型。由于(yu)(yu)(yu)遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)的(de)(de)(de)(de)復雜性(xing)(xing)和多樣性(xing)(xing)，遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)的(de)(de)(de)(de)建模(mo)(mo)及(ji)控(kong)制(zhi)是(shi)(shi)一(yi)項極其(qi)困(kun)難(nan)的(de)(de)(de)(de)工作，國(guo)內(nei)外學術界暫(zan)時還沒有(you)一(yi)統的(de)(de)(de)(de)遲(chi)滯(zhi)(zhi)(zhi)模(mo)(mo)型。研(yan)(yan)究者們基(ji)本從兩個方面對遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)進行(xing)建模(mo)(mo)研(yan)(yan)究，一(yi)是(shi)(shi)基(ji)于(yu)(yu)(yu)物(wu)理(li)(li)(li)原理(li)(li)(li)出發(fa)，通過應(ying)力、應(ying)變、磁感應(ying)強(qiang)度、電(dian)場強(qiang)度等物(wu)理(li)(li)(li)量推(tui)導(dao)壓電(dian)材(cai)料(liao)輸(shu)入電(dian)壓與輸(shu)出位移之間的(de)(de)(de)(de)關系(xi)，如(ru)Jiles-Atherton模(mo)(mo)型。基(ji)于(yu)(yu)(yu)物(wu)理(li)(li)(li)原理(li)(li)(li)來建立遲(chi)滯(zhi)(zhi)(zhi)模(mo)(mo)型難(nan)度高，且(qie)不(bu)同(tong)的(de)(de)(de)(de)壓電(dian)材(cai)料(liao)表現(xian)(xian)出的(de)(de)(de)(de)遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)也(ye)各不(bu)相同(tong)，基(ji)于(yu)(yu)(yu)物(wu)理(li)(li)(li)原理(li)(li)(li)推(tui)導(dao)出的(de)(de)(de)(de)遲(chi)滯(zhi)(zhi)(zhi)模(mo)(mo)型只適用于(yu)(yu)(yu)一(yi)種遲(chi)滯(zhi)(zhi)(zhi)材(cai)料(liao)，缺乏一(yi)般性(xing)(xing)；第二種方法是(shi)(shi)基(ji)于(yu)(yu)(yu)遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)建立遲(chi)滯(zhi)(zhi)(zhi)模(mo)(mo)型，基(ji)于(yu)(yu)(yu)現(xian)(xian)象(xiang)的(de)(de)(de)(de)模(mo)(mo)型不(bu)關心遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)出現(xian)(xian)的(de)(de)(de)(de)物(wu)理(li)(li)(li)原理(li)(li)(li)，只針對遲(chi)滯(zhi)(zhi)(zhi)現(xian)(xian)象(xiang)進行(xing)數(shu)學建模(mo)(mo)，應(ying)用范圍更(geng)加廣泛。

　　實驗目的：分析壓電驅動器的輸出力(li)特(te)性

　　測試設備：壓電(dian)驅動(dong)器、ATA-308功(gong)率放大(da)器、電(dian)荷放大(da)器、數據采集卡、上位機(ji)

　　實驗過程：實驗過程如(ru)圖1-1所示，首先(xian)利用上位(wei)機(ji)控制數據(ju)采(cai)集(ji)卡給出(chu)激勵信(xin)號(hao)，經過ATA-308功率放(fang)大(da)(da)器(qi)(qi)后信(xin)號(hao)施加給壓(ya)(ya)電(dian)(dian)(dian)陶(tao)瓷，壓(ya)(ya)電(dian)(dian)(dian)力(li)傳感器(qi)(qi)采(cai)集(ji)壓(ya)(ya)電(dian)(dian)(dian)驅動器(qi)(qi)輸(shu)(shu)出(chu)力(li)產生(sheng)電(dian)(dian)(dian)荷信(xin)號(hao)，電(dian)(dian)(dian)荷信(xin)號(hao)經過電(dian)(dian)(dian)荷放(fang)大(da)(da)器(qi)(qi)中的積分電(dian)(dian)(dian)路(lu)和調理電(dian)(dian)(dian)路(lu)最(zui)終(zhong)轉換為電(dian)(dian)(dian)壓(ya)(ya)信(xin)號(hao)，此時同步(bu)采(cai)集(ji)輸(shu)(shu)入電(dian)(dian)(dian)壓(ya)(ya)信(xin)號(hao)和輸(shu)(shu)出(chu)力(li)信(xin)號(hao)用于分析壓(ya)(ya)電(dian)(dian)(dian)驅動器(qi)(qi)的輸(shu)(shu)出(chu)力(li)特性。

　　圖(tu)1-1實驗原理框圖(tu)

　　實驗結果：壓電(dian)(dian)驅(qu)動(dong)器(qi)在(zai)非線(xian)性(xing)特(te)征由遲滯(zhi)現(xian)(xian)象(xiang)，蠕(ru)變(bian)現(xian)(xian)象(xiang)和振動(dong)組合成，其中遲滯(zhi)現(xian)(xian)象(xiang)占(zhan)據主導(dao)作用。遲滯(zhi)現(xian)(xian)象(xiang)在(zai)壓電(dian)(dian)驅(qu)動(dong)器(qi)中不(bu)僅表現(xian)(xian)在(zai)輸(shu)(shu)入電(dian)(dian)壓與輸(shu)(shu)出(chu)(chu)(chu)位移上(shang)，在(zai)輸(shu)(shu)入電(dian)(dian)壓與輸(shu)(shu)出(chu)(chu)(chu)力(li)也表現(xian)(xian)出(chu)(chu)(chu)遲滯(zhi)現(xian)(xian)象(xiang)。輸(shu)(shu)出(chu)(chu)(chu)力(li)大小不(bu)僅與輸(shu)(shu)入電(dian)(dian)壓的(de)當(dang)前(qian)值有關，而(er)且(qie)與輸(shu)(shu)入電(dian)(dian)壓之(zhi)前(qian)的(de)極值有關，這種行為相當(dang)于壓電(dian)(dian)驅(qu)動(dong)器(qi)記(ji)錄了之(zhi)前(qian)的(de)歷史極值，因(yin)此這種現(xian)(xian)象(xiang)稱為遲滯(zhi)現(xian)(xian)象(xiang)的(de)記(ji)憶特(te)性(xing)。

　　在(zai)實驗平臺同步采集壓(ya)(ya)(ya)電(dian)陶瓷驅動器的(de)輸(shu)入(ru)電(dian)壓(ya)(ya)(ya)和輸(shu)出(chu)力信號，如圖1-2a)所示，而輸(shu)入(ru)電(dian)壓(ya)(ya)(ya)與(yu)(yu)輸(shu)出(chu)力的(de)關系(xi)如圖1-2b)所示。當(dang)(dang)輸(shu)入(ru)電(dian)壓(ya)(ya)(ya)為(wei)衰(shuai)減正弦波(bo)時(shi)，在(zai)電(dian)壓(ya)(ya)(ya)-輸(shu)出(chu)力曲線圖中(zhong)表(biao)現(xian)為(wei)多個大小不一(yi)(yi)的(de)遲(chi)滯(zhi)環。該(gai)實驗中(zhong)電(dian)壓(ya)(ya)(ya)-輸(shu)出(chu)力曲線，說明輸(shu)出(chu)力的(de)值(zhi)與(yu)(yu)當(dang)(dang)前是處于電(dian)壓(ya)(ya)(ya)上升(sheng)階(jie)段(duan)還(huan)是電(dian)壓(ya)(ya)(ya)下降階(jie)段(duan)有(you)關，同時(shi)與(yu)(yu)壓(ya)(ya)(ya)電(dian)驅動器之前輸(shu)入(ru)電(dian)壓(ya)(ya)(ya)的(de)極值(zhi)相(xiang)關。該(gai)實驗驗證壓(ya)(ya)(ya)電(dian)驅動器在(zai)電(dian)壓(ya)(ya)(ya)-輸(shu)出(chu)力關系(xi)表(biao)現(xian)出(chu)了和在(zai)電(dian)壓(ya)(ya)(ya)-位移關系(xi)同樣(yang)的(de)遲(chi)滯(zhi)現(xian)象，它是一(yi)(yi)種多值(zhi)映射(she)關系(xi)，且遲(chi)滯(zhi)現(xian)象具有(you)記憶(yi)特性(xing)(xing)。遲(chi)滯(zhi)現(xian)象具有(you)記憶(yi)特性(xing)(xing)的(de)同時(shi)，還(huan)表(biao)現(xian)出(chu)了擦除特性(xing)(xing)(Wiping-out)與(yu)(yu)一(yi)(yi)致特性(xing)(xing)(Congruency)。

　　圖1-2遲滯現象的記憶特性

　　功率放大器推薦：ATA-308C功率放大(da)器

　　圖：ATA-308C功率放大器指標參數

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