CN108599524B - A kind of flexible actuator of large stroke and high precision intelligence - Google Patents
A kind of flexible actuator of large stroke and high precision intelligence Download PDFInfo
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- CN108599524B CN108599524B CN201810462080.0A CN201810462080A CN108599524B CN 108599524 B CN108599524 B CN 108599524B CN 201810462080 A CN201810462080 A CN 201810462080A CN 108599524 B CN108599524 B CN 108599524B
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- displacement sensor
- voice coil
- coil motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/035—DC motors; Unipolar motors
- H02K41/0352—Unipolar motors
- H02K41/0354—Lorentz force motors, e.g. voice coil motors
- H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
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- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Vibration Prevention Devices (AREA)
Abstract
A kind of flexible actuator of large stroke and high precision intelligence, it include: flexible hinge position-limiting drum (1), flexible hinge (2), strut (3), displacement sensor tested surface (4), displacement sensor (5), limited block (6), top cover (7), film spring combination layer (8), mover installation lid (9), voice coil motor (10), outer cylinder (11), bottom cover (12), wherein voice coil motor (10) includes voice coil motor mover (13) and voice coil motor stator (14).After being installed, by using the measurement feedback of large range high precision eddy current displacement sensor (5) and the control output of big stroke fast-response voice coil motor (10), realizes the vibration isolation of the flexible actuator of intelligence, disturbs vibration inhibition and be accurately directed to adjust.The flexible actuator configurations of intelligence of the invention are simple, and stroke is big, and precision is high, can be widely used in spacecraft superhigh precision, ultrastability, super quick control field.
Description
Technical field
The invention belongs to spacecraft control fields, are related to a kind of flexible actuator.
Background technique
In recent years, with very high resolution earth observation, the high steady tracking of space movement target and high-resolution imaging etc.
A series of it is proposed of Future direction demands proposes high requirement to precision, the stability of satellite control system.
The measurement accuracy such as traditional attitude sensor (star quick, gyro) and Measurement bandwidth limitation are limited to, it is traditional
Low bandwidth attitude control system can not influence in wide frequency domain to various disturbing moments realize and effectively inhibit, be based only upon Satellite Attitude
State control has been difficult to meet under prior art conditions very high come the technical solution for the steady direction control of essence for realizing payload
Precision is directed toward and stability contorting requirement；Therefore, it is proposed to pass through actively in the design scheme of load and celestial body installation active platform
The vibration isolation of actuator in platform disturbs vibration and inhibits and be accurately directed to realize the high performance index of load.
However currently used actuator generally only installs vibrating sensor (such as force snesor, acceleration transducer), because
And only have the function of active vibration isolation, regulatory function is accurately directed to without having.And in actuator junction using traditional general
Logical hinge (such as flexural pivot and Hooke's hinge) limits the control output accuracy of actuator due to the presence to rub with gap.And with
Satellite load it is continuous increase, the quick motor-driven continuous improvement with fast and stable performance, current small stroke active vibration isolation makees
Dynamic device has been unable to satisfy application demand.
Summary of the invention
Technical problem solved by the present invention is overcome the deficiencies in the prior art, proposes that a kind of large stroke and high precision is intelligently scratched
Property actuator, using big stroke fast-response voice coil motor actuator, large range high precision eddy current sensor, compliant member (film spring
And flexible hinge), realize the large stroke and high precision control output of the flexible actuator of intelligence, at the same realize the vibration of load every
From, disturb vibration inhibit and be accurately directed to, efficiently solve the superhigh precision, ultrastability, super quick control problem of satellite.
The technical scheme adopted by the invention is that: a kind of flexible actuator of large stroke and high precision intelligence, comprising: flexible hinge
Chain, strut, displacement sensor tested surface, displacement sensor, limited block, top cover, film spring combination layer, mover installation lid, voice coil electricity
Machine, outer cylinder, bottom cover；Voice coil motor both ends install respectively mover installation lid, bottom cover, film spring combination layer be mounted on mover installation lid and
Between limited block, mover installation lid connect with limited block and by film spring combination layer inner ring be pressed on mover install cover and limited block it
Between；Limited block passes through in the middle part of top cover and is mounted on strut one end, and the strut other end is connect with flexible hinge；Top cover is mounted on outer cylinder
One end port, and film spring combination layer outer ring is pressed between top cover and outer cylinder port, bottom cover is mounted on the outer cylinder other end；Displacement
Sensor tested surface passes through strut, and is fixed on one end that strut is connected with limited block, and displacement sensor is fixed on top cover, position
There are gaps between displacement sensor tested surface and displacement sensor；The movement of displacement sensor displacement sensor tested surface.
The voice coil motor includes voice coil motor mover and voice coil motor stator；Voice coil motor mover installs lid phase with mover
Even, voice coil motor stator is fixed on bottom cover by screw.
The mover installation lid is connect by passing through the screw of center screw with limited block,
Further include flexible hinge position-limiting drum, flexible hinge position-limiting drum is installed, flexible hinge is not outside the flexible hinge
The one end connecting with strut is connected with external structure by internal screw thread and compresses flexible hinge position-limiting drum.
The film spring combination layer includes the identical film spring of two panels, damping material, and damping material is clipped between two panels film spring,
The material of film spring is beryllium-bronze.
The impulse stroke of the voice coil motor is ± 6mm, and maximum output power is 450N, and power output accuracy is 0.02N.
The displacement sensor is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm.
The displacement sensor tested surface diameter is the three times of displacement sensor probe diameter or more, displacement sensor quilt
The material in survey face is aluminium alloy.
The flexible hinge material is titanium alloy.
Compared with the prior art, the present invention has the following advantages:
(1) the method for the present invention is passed using big stroke fast-response voice coil motor actuator and large range high precision current vortex displacement
Sensor improves the maximum output power and impulse stroke of existing actuator, so as to improve the quick motor-driven and fast and stable of satellite
Performance meets the following large-scale load application demand.
(2) the method for the present invention replaces traditional vibrating sensor (such as force snesor, acceleration sensing using displacement sensor
Device), it, can be by means of high precision position while realizing vibration isolation and Disturbance Rejection by displacement sensor feedback control
The displacement measurement feedback control of displacement sensor realizes that actuator is accurately directed to adjust.
(3) the method for the present invention proposes to avoid common hinge instead of common hinge using film spring and flexible hinge form with this
Nonlinear Dynamics Problems caused by friction and gap are obviously improved the output accuracy and stability of the flexible actuator of intelligence.
(4) the method for the present invention is using double film spring folder designs such as damping material and flexible hinge position-limiting drum, significant increase intelligence
Flexible actuator emits the mechanical environment capacity of powered phase crossing.
Detailed description of the invention
Fig. 1 is the sectional view of the flexible actuator of present invention intelligence；
Fig. 2 is the composition figure of voice coil motor of the present invention；
Fig. 3 is the schematic diagram of inventive film spring combination layer；
Fig. 4 is the composition figure of inventive film spring combination layer；
Fig. 5 is the axial limiting and corner locating schematic diagram of the flexible actuator of present invention intelligence；
Fig. 6 is the corner locating schematic diagram of flexible hinge of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the contents of the present invention.
As shown in Figure 1, a kind of flexible actuator of large stroke and high precision intelligence, comprising: flexible hinge position-limiting drum 1, flexible hinge
Chain 2, strut 3, displacement sensor tested surface 4, displacement sensor 5, limited block 6, top cover 7, film spring combination layer 8, mover installation lid
9, voice coil motor 10, outer cylinder 11, bottom cover 12.
As shown in Fig. 2, voice coil motor 10 includes voice coil motor mover 13 and voice coil motor stator 14；Voice coil motor mover 13
It is connected with mover installation lid 9, mover is installed lid 9 and connect by passing through the screw of center screw with limited block 6, and combines film spring
Layer inner ring 15 is pressed between mover installation lid 9 and limited block 6, and limited block 6 passes through top cover 7, and passes through spiral shell outside 6 upper end of limited block
Line is connect with 3 lower end internal thread hole of strut, and 3 upper external screw thread of strut is connect with 2 lower end internal thread hole of flexible hinge, flexible hinge
2 upper ends are connected by internal thread hole with external structure, and compress upper flexible hinge position-limiting drum 1 simultaneously；Top cover 7 and outer cylinder 11 are logical
Screw is crossed to compress film spring combination layer outer ring 16；Displacement sensor tested surface 4 passes through strut 3, and is fixed on strut 3 by screw
On, displacement sensor 5 is fixed on top cover 7 by screw；Voice coil motor stator 14 is fixed on bottom cover 12, bottom cover by screw
12, outer cylinder 11 passes through outer ring through hole by screw and connect with external structure.
Flexible hinge position-limiting drum 1 is installed outside flexible hinge 2, the hard-over of flexible hinge is limited, to protect flexible hinge
Chain fatigue rupture due to caused by lasting large deformation；
The impulse stroke of the voice coil motor 10 is ± 6mm, and maximum output power is 450N, and power output accuracy is 0.02N.
As shown in fig. 6, installing flexible hinge position-limiting drum 1 outside flexible hinge 2, the hard-over of flexible hinge is limited, with
Protect flexible hinge fatigue rupture due to caused by lasting large deformation；By adjusting corner locating distance s, it is made to meet intelligence
While flexible actuator works normally corner, the hard-over of flexible hinge is limited；In the present embodiment, s=2mm.It is flexible
Hinge 2 requires high axial rigidity and shearing rigidity and small bending stiffness and torsion stiffness.It is cut by the line to cylindrical body
It cuts so that the bending stiffness of cylindrical body declines to a great extent, and the Stiffness in remaining direction is less, makes its rotation along vertical axial
Rigidity is much smaller than the rigidity in remaining direction.It can guarantee that virtual axle and flexible hinge design shaft by the design in wire cutting path
It is overlapped.Flexible hinge 2 should select as far as possible elasticity modulus smaller and the biggish material of yield limit.Flexible hinge 2 in the present embodiment
Bending stiffness be 60Nm/rad；The material of flexible hinge 2 is titanium alloy.
As shown in Figure 3, Figure 4, film spring combination layer 8 is that damping material 18 is pressed from both sides among the identical film spring 17 of two panels, to increase intelligence
The passive damping of the flexible actuator of energy；Film spring combination layer 8 is distinguished by film spring combination layer inner ring 15 and film spring combination layer outer ring 16
It is connected with the flexible actuator motion parts of intelligence and fixed part；Axial rigidity by designing monolithic membrane spring 17 realizes intelligence
The axial rigidity of flexible actuator.Film spring 17 requires lower axial and overturning rigidity, higher local mode's frequency with
And lesser local dynamic effect response, higher radial rigidity, lesser radial rigidity variation, Gao Chongfu when axial displacement occurs
It is property and long-life, nonmagnetic.The axial rigidity of film spring 17 is real by the adjustment to the selection of film spring material, film spring thickness and decorative pattern
Existing, the axial rigidity of monolithic membrane spring 17 is 15N/mm in the present embodiment；The material of film spring 17 is beryllium-bronze.
The displacement sensor 5 is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm；Institute
4 diameter of displacement sensor tested surface stated is the three times of 5 probe diameter of displacement sensor or more, displacement sensor tested surface 4
Material is aluminium alloy；.
Limited block 6, top cover 7, strut 3 combine the axial limiting and corner locating for realizing the flexible actuator of intelligence.Such as Fig. 5 institute
Show, by adjusting axial limiting distance d and rotary spacing distance a, make its meet the flexible actuator normal axial stroke of intelligence and
While corner, the maximum axial stroke and hard-over of the flexible actuator of intelligence are limited, to protect displacement sensor 5 to pop one's head in,
Voice coil motor mover 13 and voice coil motor stator 14 is avoided mutually to collide；D=5mm in the present embodiment, a=5mm.
The working principle of the flexible actuator of intelligence are as follows: mover the installation lid 9, film spring being connect with voice coil motor mover 13
Combination layer inner ring 15, limited block 6, strut 3, displacement sensor tested surface 4, flexible hinge 2 collectively constitute the flexible actuator of intelligence
Motion parts, the bottom cover 12 being connect with voice coil motor stator 14, outer cylinder 11, film spring combination layer outer ring 16, top cover 7, displacement pass
Sensor 5 collectively constitutes the fixed part of the flexible actuator of intelligence, positioned at the displacement sensor 5 of the flexible actuator fixed part of intelligence
The relative motion displacement for being located at the displacement sensor tested surface 4 of the flexible actuator motion parts of intelligence can be measured, is scratched when intelligently
Property actuator realize when being moved to target position, control can be designed by the deviation of displacement sensor 5 measurement result and target position
Algorithm processed, such as pid control algorithm, and then electric current is exported by controller and voice coil motor driver, driving voice coil motor generates
Control force moves in a straight line motion parts relative to fixed part, reaches target position.After being installed, pass through wide range
The measurement of high precision electro eddy displacement sensor 5 and the control of big stroke fast-response voice coil motor 10 export, and realize that intelligence is flexible
The large stroke and high precision of actuator exports, and the displacement sensor range is ± 5mm, and resolution ratio is 0.3 μm.Described
Voice coil motor impulse stroke is ± 6mm, and maximum output power is 450N, and power output accuracy is 0.02N.
The flexible actuator of present invention intelligence is installed between satellite body and load in such a way that multiple actuator are in parallel,
The vibration isolation of load is realized with this, is disturbed vibration inhibition and is accurately directed to adjust.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (8)
1. a kind of flexible actuator of large stroke and high precision intelligence characterized by comprising flexible hinge (2), strut (3), displacement
Sensor tested surface (4), displacement sensor (5), limited block (6), top cover (7), film spring combination layer (8), mover installation lid (9),
Voice coil motor (10), outer cylinder (11), bottom cover (12)；Voice coil motor (10) both ends are installed by mover installation lid (9), bottom cover respectively
(12), film spring combination layer (8) is mounted between mover installation lid (9) and limited block (6), mover installation lid (9) and limited block (6)
It connects and film spring combination layer (8) inner ring (15) is pressed between mover installation lid (9) and limited block (6)；Limited block (6) passes through
In the middle part of top cover (7) and it is mounted on strut (3) one end, strut (3) other end is connect with flexible hinge (2)；Top cover (7) is mounted on outer
Cylinder (11) one end port, and film spring combination layer outer ring (16) is pressed between top cover (7) and outer cylinder (11) port, bottom cover (12)
It is mounted on outer cylinder (11) other end；Displacement sensor tested surface (4) passes through strut (3), and is fixed on strut (3) and limited block
(6) connected one end, displacement sensor (5) are fixed on top cover (7), displacement sensor tested surface (4) and displacement sensor (5)
Between there are gaps；Displacement sensor (5) measures the movement of displacement sensor tested surface (4)；
The film spring combination layer (8) includes the identical film spring (17) of two panels, damping material (18), and damping material (18) is clipped in two
Between piece film spring (17), the material of film spring (17) is beryllium-bronze.
2. a kind of flexible actuator of large stroke and high precision intelligence according to claim 1, it is characterised in that: the voice coil electricity
Machine (10) includes voice coil motor mover (13) and voice coil motor stator (14)；Voice coil motor mover (13) and mover installation lid (9)
It is connected, voice coil motor stator (14) is fixed on bottom cover (12) by screw.
3. a kind of flexible actuator of large stroke and high precision intelligence according to claim 1 or 2, it is characterised in that: described dynamic
Son installation lid (9) is connect by passing through the screw of center screw with limited block (6).
4. a kind of flexible actuator of large stroke and high precision intelligence according to claim 1 or 2, it is characterised in that: further include
Flexible hinge position-limiting drum (1) installs flexible hinge position-limiting drum (1) outside the flexible hinge (2), flexible hinge (2) not with
One end of strut (3) connection is connected with external structure by internal screw thread and compresses flexible hinge position-limiting drum (1).
5. a kind of flexible actuator of large stroke and high precision intelligence according to claim 2, it is characterised in that: the voice coil
The impulse stroke of motor (10) is ± 6mm, and maximum output power is 450N, and power output accuracy is 0.02N.
6. a kind of flexible actuator of large stroke and high precision intelligence according to claim 1 or 2, it is characterised in that: described
Displacement sensor (5) is eddy current displacement sensor, and measurement range is ± 5mm, and resolution ratio is 0.3 μm.
7. a kind of flexible actuator of large stroke and high precision intelligence according to claim 6, it is characterised in that: the displacement
Sensor tested surface (4) diameter is the three times of displacement sensor (5) probe diameter or more, the material of displacement sensor tested surface (4)
Material is aluminium alloy.
8. a kind of flexible actuator of large stroke and high precision intelligence according to claim 1 or 2, it is characterised in that: described soft
Property hinge (2) material be titanium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810462080.0A CN108599524B (en) | 2018-05-15 | 2018-05-15 | A kind of flexible actuator of large stroke and high precision intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810462080.0A CN108599524B (en) | 2018-05-15 | 2018-05-15 | A kind of flexible actuator of large stroke and high precision intelligence |
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| Publication Number | Publication Date |
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| CN108599524A CN108599524A (en) | 2018-09-28 |
| CN108599524B true CN108599524B (en) | 2019-11-12 |
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| CN201810462080.0A Active CN108599524B (en) | 2018-05-15 | 2018-05-15 | A kind of flexible actuator of large stroke and high precision intelligence |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110417231B (en) * | 2019-06-27 | 2020-11-10 | 北京控制工程研究所 | Voice coil actuator integrated with eddy current displacement sensor and assembling method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009040745A1 (en) * | 2007-09-26 | 2009-04-02 | Koninklijke Philips Electronics N.V. | Objective driving unit for an optical device |
| CN102412695A (en) * | 2011-09-23 | 2012-04-11 | 北京航空航天大学 | Voice coil actuator based on linear elastic double-membrane spring structure |
| CN102943839B (en) * | 2012-10-24 | 2014-05-07 | 华中科技大学 | Precision positioning vibration isolation platform |
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