CN105425835B - A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric - Google Patents
A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric Download PDFInfo
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- CN105425835B CN105425835B CN201511024109.XA CN201511024109A CN105425835B CN 105425835 B CN105425835 B CN 105425835B CN 201511024109 A CN201511024109 A CN 201511024109A CN 105425835 B CN105425835 B CN 105425835B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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Abstract
A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric, including upper plane driver and lower plane driver, multiple linear actuators of border between upper plane driver and lower plane driver, in addition to it is used for driver control to realize the man-machine interactive control system of antenna pose adjustment；Controlled antennas is vertically mounted on plane driver and lower plane driver centre position；Man-machine interactive control system can be adjusted respectively by button and handle loads on linear actuator and the control voltage in plane driver, straight-line displacement and plane displacement are produced respectively, so as to realize that antenna is swung and translation, reach sensitivity adjustable antenna pose adjustment this target；The present invention has the characteristics that low cost, lightweight, flexibility and noiseless, can be operated in strong magnetic field circumstance, and produces larger displacement and corner, control method simple and flexible, it is possible to achieve the needs of specific occasion pose adjustment.
Description
Technical field
A kind of a kind of antenna pose regulator control system of the present invention, and in particular to antenna based on the high-elastic polymer actuator of dielectric
Pose regulator control system.
Background technology
Recently as the development of space science technology, various miniaturization space equipments such as skin satellite, distributed space station
Etc. continuing to bring out, the flexible equipment of corresponding small space is promoted to arise at the historic moment, such as solar panel, in grapefruit satellite equipment
Flexible antennas solar energy sailboard, the flexible mechanical arm on space station etc., the most size of this class formation is big, and light weight, amount of deflection is big, soft
Property it is notable, and this class formation be frequently necessary to carry out pose adjustment, reached required particular job state.This just needs to drive
Device realizes the output of certain displacement or angle, and in conventional ADS driving mode hydraulic pressure design maintenance difficulty is, it is necessary to cylinder, air accumulator etc.
Auxiliary equipment, motor driving needs the arrangements for speed regulation such as decelerator, and driven Design control is complicated, and its performance is also difficult to many empty
Between normal work, such as strong magnetic field circumstance in environment.In addition, traditional type of drive is also all along with noise and stronger vibration,
Have a negative impact to the working condition of space light flexible device.
In recent years, a kind of novel intelligent material --- the high-elastic polymer of dielectric causes extensive concern, and the material is one
High molecular polymer of the kind with backbone, is acted under extraneous electro photoluminescence by Maxwell's stress, produces very big electricity
Strain is caused, additionally with light weight, energy density is high, fast response time, strong environmental adaptability, and it is excellent that noiseless is pollution-free etc.
Point, voltage can be used to directly drive, auxiliary equipment is few, easy to control.
Driver is prepared by basic function material of dielectric elastomer polymer, and meets the machine of particular demands by design
Tool structure, simple can of assembling are made antenna posture adjustment adjustment mechanism, redesign special circuit, inputted and assisted by control voltage
Each driver is adjusted, control linear actuator produces straight-line displacement to adjust sensitivity, is aided with man-machine interactive interface, it is possible to spirit
Controllable realization miniaturization space structure living, such as the adjustment of the pose of antenna.
The content of the invention：
In order to overcome the above-mentioned problems of the prior art, the present invention proposes a kind of based on the high-elastic polymer driving of dielectric
The antenna pose regulator control system of device, by the output of the three-dimensional big displacement big corner of 6-dof motion platform, realize miniaturization
Space structure, as the pose of antenna adjusts.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric, including upper plane driver 2 is with
Plane driver 4, multiple linear actuators 3 of border between upper plane driver 2 and lower plane driver 4, in addition to
For driver control with realize antenna pose adjustment man-machine interactive control system；Controlled antennas 1 is vertically mounted on flat
Face driver 2 and the centre position of lower plane driver 4；
The linear actuator 3 includes hollow end cap 5, is fixed on the bullet that hollow 5 hollow intracavitary of end cap is in compressive state
Spring 7, scribbles PEDOT:After the high-elastic grade of the thin polymer film 6 twin shaft pre-stretching of the first rectangular dielectric of PSS high molecular polymer electrodes
Uniform be wrapped on the outer cylinder surface of end cap 5；When applying voltage in the high-elastic thin polymer film of the first rectangular dielectric about 6
Surface PEDOT:During PSS high molecular polymer electrodes, the high-elastic thin polymer film 6 of the first rectangular dielectric by electric field force due to being made
With rigidity reduces, and the spring 7 of compression is released, so as to form straight-line displacement；
The upper plane driver 2 is identical with the structure of lower plane driver 4, including interior retainer plate 8 and outer retainer plate 11,
The high-elastic thin polymer film 9 of second dielectric is arranged on the interior He of retainer plate 8 after standing and after carrying out the twin shaft pre-stretching such as uniform
Between outer retainer plate 11, multiple PEDOT:PSS high molecular polymers electrode 10 is symmetrically arranged on the high-elastic polymer of the second dielectric
The upper and lower surface of film 9；The high-elastic thin polymer film 9 of second dielectric produces electrostrictive, such controlled antennas 1 under the driving of voltage
Displacement will be produced；
The man-machine interactive control system include be sequentially connected the telemetry circuit based on Atmega256 single-chip microcomputers, 12
Road pwm signal turns DC voltage module, power amplifier module and high pressure amplifying and off-load module, breath light display portion
And human-computer interaction interface；The upper plane driver 2 and lower plane driver 4 and linear actuator 3 are connected to high voltage amplifier
Module and off-load intermodule；The pwm signal turns 12 conversion chips that DC voltage module uses LTC2645-L12, single
Conversion time is less than 40us, and the PWM ripples of its different duty for exporting the telemetry circuit based on Atmega256 single-chip microcomputers are changed
After data signal, DC simulation signal is converted to by DAC and inputted to power amplifier module；Power amplifier module uses
OPA544T chips, radiation fin is answered in use；High pressure amplifying is linear voltage amplifier, and it is defeated by power amplifier module
The analog signal gone out amplifies 1600 times；Off-load module uses power resistor of the resistance value in 120M Europe to 180M Europe, for providing
The aerial drainage loop of on-load voltage on the high-elastic polymer of dielectric.
The high-elastic high-elastic thin polymer film 9 of the dielectric of thin polymer film 6 and second of first rectangular dielectric has incompressible
Property, its macromolecule matrix is acrylic acid.
The multiple PEDOT:PSS high molecular polymers electrode 10 divides to be divided into four sector regions, each region
Shape, size all same and symmetrical in plane, its thickness uniformly and are no more than 1mm；The upper plane driver 2 and lower flat
Each sector electrode region corresponds to consistent in locus when face driver 4 is installed.
The material of the interior retainer plate 8 and outer retainer plate 11 is lightweight polyphenyl alkene plastics, ensures plane driver entirety matter
Amount is smaller.
The interior retainer plate 8 and the circular-hole internal-wall that controlled antennas 1 is in contact scribble lubricating grease, reduce controlled antennas 1 with it is interior
Friction between retainer plate 8, ensure the compliance of relative motion between the two.
The linear actuator 3 is four, installed in same height, and is evenly distributed.
The human-computer interaction interface includes being used to distinguish output corner signal, translates the rocking bar of signal, sensitivity adjustment is pressed
Key and upper computer software；Sensitivity adjustment button is used for the control signal for exporting linear actuator 3, is driven so as to adjust upper plane
Dynamic spacing between device 2 and lower plane driver 4, realize the adjustment of the corner excursion of controlled antennas 1 under equal control signal；
Used host computer man-machine interactive software is write using Labview, is sent to input parameter using serial ports and is based on
The telemetry circuit of Atmega256 single-chip microcomputers, output duty cycle and swing angle respectively after treatment, displacement, key press time into
The pwm signal of direct ratio, and shown with LED breath lights, realize to being adjusted based on the high-elastic polymer actuator antenna pose of dielectric
Control the configuration of system control parameters.
Compared to the prior art compared with the present invention possesses following advantage：
1. voltage drives, equipment is simple, easy to control, and cost is low.
2. lightweight, flexible, displacement corner is larger.
3. fast response time, noise-less pollution, strong environmental adaptability.
4. vibration is smaller, control targe is influenceed small.
Figure of description
Fig. 1 is based on the high-elastic hollow six-freedom motion of polymer actuator antenna pose regulator control system of dielectric for the present invention
The structural representation of platform.
Fig. 2 is based on a linear actuator knot in the high-elastic polymer actuator antenna pose regulator control system of dielectric for the present invention
Structure schematic diagram and its profile.
Fig. 3 is based on a plane driver knot in the high-elastic polymer actuator antenna pose regulator control system of dielectric for the present invention
Structure schematic diagram and its profile.
Fig. 4 is the signal of the invention based on the high-elastic polymer actuator antenna pose regulator control system embodiment of dielectric
Figure.
Fig. 5 is based on man-machine interactive control system in the high-elastic polymer actuator antenna pose regulator control system of dielectric for the present invention
The structured flowchart of system.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.As Figure 1-3, a kind of day based on the high-elastic polymer actuator of dielectric of the present invention
Line pose regulator control system, including four linear actuators 3, upper plane driver 2 and lower plane driver 4, and for controlling
To realize the man-machine interactive control system of antenna pose adjustment, controlled antennas 1 is driven installed in upper plane for the driver coordinated movement of various economic factors
Among dynamic device 2 and lower plane driver 4, keep vertical by the interior retainer plate 8 of macromolecule support frame.During work, by man-machine
Interactive control system coordinates the electricity that control is applied to about 4 groups counter electrodes in plane driver 2 and lower plane driver 4
Pressure, it is possible to achieve the translation of X, Y both direction and rotation about the z axis and the swing around two axles of X and Y；Applied by controlling
Voltage on corresponding four linear actuators 3, thus it is possible to vary the distance between two plane drivers, so as to adjust it is identical plus
Carry and swing corresponding output angle under voltage with controlled antennas 1, finally realize the adjustment of sensitivity.
It is as shown in figure 1, upper flat in a kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric of the present invention
Face driver 2 and lower plane driver 4 need completely the same, and each sector electrode part corresponds to consistent in locus during installation；4
Linear actuator 3 is arranged on same height, and is evenly distributed on same circumference, while keeps vertical and not flexible.
As shown in Fig. 2 the linear actuator 3 for being used to adjust sensitivity in the present invention mainly includes hollow end cap 5, spring 7,
Scribble PEDOT:The high-elastic thin polymer film 6 of the first dielectric of PSS high molecular polymer electrodes.Wherein end cap is used to fix bullet up and down
Spring 7, keeps that hollow end cap 5 and spring 7 are coaxial, and the both ends of spring 7 are fixed in the cylindrical groove of hollow end cap 5, are at one
Fixed compressive state, and end cap cylindrical inner wall and the friction of spring 7 are smaller up and down；And scribble PEDOT:PSS high molecular polymerizations
The outer of hollow end cap 5 is uniformly wrapped in after the high-elastic grade of the thin polymer film 6 twin shaft pre-stretching of the first rectangular dielectric of thing electrode
On periphery, and fixed with fixing fitting, form the side wall of linear actuator 3, it is high in the first rectangular dielectric when applying voltage
Play the upper and lower surface PEDOT of thin polymer film 6:During PSS high molecular polymer electrodes, film by electric field force due to being acted on, just
Degree reduces, and the spring of compression is released, so as to form straight-line displacement.
As shown in figure 3, upper plane driver 2 and lower plane driver 4 are by the interior retainer plate 8 of macromolecule support frame and outer solid
Surely the high-elastic thin polymer film 9 of the 11, second dielectric and the PEDOT of the high-elastic polymer film top and bottom of dielectric are enclosed:PSS high molecular polymers
Electrode 10 forms.The high-elastic thin polymer film 9 of second dielectric should carry out uniformly waiting twin shaft to be pre-stretched in a pre-installation, and by quiet
Postpone between the interior retainer plate 8 installed in macromolecule support frame, outer retainer plate 11；Dielectric elastomer polymer material both sides spin coating
PEDOT:PSS high molecular polymers electrode 10 divides to be divided into 4 sector regions, the shape in each region, size all same
And it is symmetrical in plane, thickness of electrode should be uniform and be no more than 1mm；The interior retainer plate 8 and outer retainer plate of macromolecule support frame
Material used in 11 is lightweight polyphenyl alkene plastics, ensures that plane driver total quality is smaller；Macromolecule support frame it is interior solid
Surely the circular-hole internal-wall that circle 8 is in contact with controlled antennas 1 scribbles lubricating grease, reduces the friction between antenna and interior retainer plate 8, ensures
The compliance of relative motion between the two.
As the preferred embodiment of the present invention, the first rectangular dielectric used in linear actuator and plane driver is high
The high-elastic thin polymer film 9 of the dielectric of thin polymer film 6 and second is played, there is Incoercibility, its macromolecule matrix is acrylic acid.
The specific work process of the present invention is as shown in Fig. 4 a~4d.As shown in fig. 4 a, plane driver 2 and lower flat in selection
Two groups of adjacent sector electrodes apply control voltage corresponding in face driver 4, and the high-elastic thin polymer film 9 of the second dielectric is in voltage
Driving under produce electrostrictive, such controlled antennas 1 will produce the displacement of X or Y-direction；As shown in Figure 4 b, plane in selection
Driver 2 and lower plane driver 4 apply voltage apart from farthest two arrays of electrodes, then dielectric elastomer corresponding to base part is thin
Film produces electrostrictive in opposite direction under the driving of voltage, so as to form the rotation around X or Y-axis；As illustrated in fig. 4 c, when upper
4 pieces of electrodes press clockwise or counterclockwise first after-applied voltage corresponding in plane driver 2 and lower plane driver 4, just
Controlled antennas 1 can be made to produce the rotary motion around Z-direction.It is to keep upper and lower two plane drivers apart from constant knot above
Fruit；As shown in figure 4d, by applying voltage on four linear actuators, after 4 linear actuators 3 produce the displacement of Z-direction,
Upper plane driver 2 and the distance of lower plane driver 4 change, and are achieved that plane driver 2 and lower flat accordingly
On face driver 4 under identical on-load voltage, the regulating and controlling voltage of the change of the swing angle of controlled antennas 1, i.e. swing sensitivity.
As shown in figure 5, the present invention is a kind of to be based on man-machine friendship in the high-elastic polymer actuator antenna pose regulator control system of dielectric
Mutual formula control system includes the telemetry circuit based on Atmega256 single-chip microcomputers, and 12 road pwm signals turn DC voltage module, power
Amplification module, high pressure amplifying, off-load module, breath light display portion and human-computer interaction interface.Man-machine interactive controls
System can be adjusted respectively by button and handle loads on linear actuator and the control voltage in plane driver, produces respectively
Straight-line displacement and plane displacement, so as to realize antenna swing and translation, reach sensitivity adjustable antenna pose adjustment this
One target.
As the preferred embodiment of the present invention, pwm signal is turned DC voltage module and turned using 12 of LTC2645-L12
Chip is changed, the single conversion time is less than 40us, its different duty for exporting the telemetry circuit based on Atmega256 single-chip microcomputers
PWM ripples be converted to data signal after, DC simulation signal is converted to by DAC and inputted to power amplifier module；Power amplification
Module uses OPA544T chips, and radiation fin is answered in use；High pressure amplifying is linear voltage amplifier, and it puts power
The analog signal of big module output amplifies 1600 times.Off-load module uses power resistor of the resistance value in 120M Europe to 180M Europe,
For providing the aerial drainage loop of on-load voltage on the high-elastic polymer of dielectric.
Human-computer interaction interface includes being used to distinguish output corner signal, translates the rocking bar of signal, sensitivity adjustment button with
And upper computer software；Sensitivity adjustment button is used for the control signal for exporting linear actuator, and on-load voltage is with two buttons
Time longer more and more higher or lower respectively, so as to adjust the spacing between plane driver 2 and 4, realizes equal control signal
The adjustment of lower antenna corner excursion；Used host computer man-machine interactive software is write using Labview, utilizes
Input parameter is sent to the telemetry circuit based on Atmega256 single-chip microcomputers by serial ports, after treatment respectively output duty cycle with
Swing angle, displacement, the directly proportional pwm signal of key press time, and shown with LED breath lights, so as to realize to based on Jie
The configuration of the high-elastic polymer actuator antenna pose regulator control system control parameter of electricity.
Claims (7)
- A kind of 1. antenna pose regulator control system based on the high-elastic polymer actuator of dielectric, it is characterised in that：Driven including upper plane Dynamic device (2) and lower plane driver (4), border is multiple straight between upper plane driver (2) and lower plane driver (4) Line drive (3), in addition to it is used for driver control to realize the man-machine interactive control system of antenna pose adjustment；Controlled day Line (1) is vertically mounted on plane driver (2) and lower plane driver (4) centre position；The linear actuator (3) includes hollow end cap (5), is fixed on hollow end cap (5) hollow intracavitary and is in compressive state Spring (7), scribbles PEDOT:The twin shafts such as the high-elastic thin polymer film of the first rectangular dielectric (6) of PSS high molecular polymer electrodes are pre- Uniformly it is wrapped on the outer cylinder surface of end cap (5) after stretching；When application voltage is in the high-elastic polymer thin of the first rectangular dielectric Film (6) upper and lower surface PEDOT:During PSS high molecular polymer electrodes, the high-elastic thin polymer film of the first rectangular dielectric (6) due to by To the effect of electric field force, rigidity reduces, and the spring (7) of compression is released, so as to form straight-line displacement；The upper plane driver (2) is identical with the structure of lower plane driver (4), including interior retainer plate (8) and outer retainer plate (11), the high-elastic thin polymer film of the second dielectric (9) after standing and is carried out after the twin shaft such as uniform is pre-stretched installed in interior solid Between fixed circle (8) and outer retainer plate (11), multiple PEDOT:PSS high molecular polymers electrode (10) is symmetrically arranged on second Jie High-elastic thin polymer film (9) upper and lower surface of electricity；The high-elastic thin polymer film of second dielectric (9) produces electroluminescent change under the driving of voltage Shape, such controlled antennas (1) will produce plane displacement；The man-machine interactive control system includes the telemetry circuit based on Atmega256 single-chip microcomputers, the 12 road PWM being sequentially connected Signal turns DC voltage module, power amplifier module and high pressure amplifying and off-load module, breath light display portion and people Machine interactive interface；The upper plane driver (2) and lower plane driver (4) and linear actuator (3) are connected to height and pressed Big module and off-load intermodule；The pwm signal turns 12 conversion chips that DC voltage module uses LTC2645-L12, single Secondary conversion time is less than 40us, and the PWM ripples of its different duty for exporting the telemetry circuit based on Atmega256 single-chip microcomputers turn After being changed to data signal, DC simulation signal is converted to by DAC and inputted to power amplifier module；Power amplifier module uses OPA544T chips, radiation fin is answered in use；High pressure amplifying is linear voltage amplifier, and it is defeated by power amplifier module The analog signal gone out amplifies 1600 times；Off-load module uses power resistor of the resistance value in 120M Europe to 180M Europe, for providing The aerial drainage loop of on-load voltage on the high-elastic polymer of dielectric.
- 2. the antenna pose regulator control system according to claim 1 based on the high-elastic polymer actuator of dielectric, its feature exist In：The high-elastic thin polymer film of first rectangular dielectric (6) and the high-elastic thin polymer film of the second dielectric (9) have incompressible Property, its macromolecule matrix is acrylic acid.
- 3. the antenna pose regulator control system according to claim 1 based on the high-elastic polymer actuator of dielectric, its feature exist In：The multiple PEDOT:PSS high molecular polymers electrode (10) is divided into four sector regions, the shape in each region, greatly Small all same and symmetrical in plane, its thickness uniformly and are no more than 1mm；The upper plane driver (2) and lower plane drive Each sector electrode region corresponds to consistent in locus during dynamic device (4) installation.
- 4. the antenna pose regulator control system according to claim 1 based on the high-elastic polymer actuator of dielectric, its feature exist In：The material of the interior retainer plate (8) and outer retainer plate (11) is lightweight polyphenyl alkene plastics, ensures plane driver total quality It is smaller.
- 5. the antenna pose regulator control system according to claim 1 based on the high-elastic polymer actuator of dielectric, its feature exist In：The interior retainer plate (8) and the circular-hole internal-wall that controlled antennas (1) is in contact scribble lubricating grease, reduce controlled antennas (1) with it is interior Friction between retainer plate (8), ensure the compliance of relative motion between the two.
- 6. the antenna pose regulator control system according to claim 1 based on the high-elastic polymer actuator of dielectric, its feature exist In：The linear actuator (3) is four, installed in same height, and is evenly distributed.
- 7. the antenna pose regulator control system according to claim 1 based on the high-elastic polymer actuator of dielectric, its feature exist In：The human-computer interaction interface includes being used to distinguish output corner signal, translates the rocking bar of signal, sensitivity adjustment button and Host computer man-machine interactive software；Sensitivity adjustment button is used for the control signal for exporting linear actuator (3), on adjusting Spacing between plane driver (2) and lower plane driver (4), realize that controlled antennas (1) corner becomes under equal control signal Change the adjustment of scope；Used host computer man-machine interactive software is write using Labview, will be inputted and joined using serial ports Number is sent to the telemetry circuit based on Atmega256 single-chip microcomputers, after treatment output duty cycle and swing angle, displacement respectively The pwm signal directly proportional with key press time, and shown with LED breath lights, realize to based on the high-elastic polymer driving of dielectric The configuration of device antenna pose regulator control system control parameter.
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| CN201511024109.XA CN105425835B (en) | 2015-12-30 | 2015-12-30 | A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric |
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| CN201511024109.XA CN105425835B (en) | 2015-12-30 | 2015-12-30 | A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric |
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| CN106371467A (en) * | 2016-10-31 | 2017-02-01 | 榆林学院 | Multi-angle oscillating test platform with characteristic vertical lifting |
| CN106737567B (en) * | 2017-02-22 | 2019-04-12 | 西安交通大学 | A kind of Ultralight robot based on the driving of dielectric elastomer resonator |
| CN108566115A (en) * | 2018-05-30 | 2018-09-21 | 华南理工大学 | A kind of small-sized complete submissive rotary motion platform based on dielectric elastomer |
| CN113002658B (en) * | 2021-03-02 | 2022-06-10 | 天津大学 | Electrically driven walking device |
| CN114362587B (en) * | 2021-12-02 | 2024-06-21 | 中国科学院深圳先进技术研究院 | Flexible driving device |
| CN116787486B (en) * | 2023-08-24 | 2023-10-27 | 山东大学 | Magnetically flexible joint based on dielectric elastomer soft sensor pose feedback |
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