實驗名稱：基于逆(ni)整(zheng)形(xing)的錐形(xing)介(jie)電彈性(xing)體隔(ge)振性(xing)能驗證

　　測試設備：高壓放大器、信(xin)號發(fa)生(sheng)器(qi)、激光傳(chuan)感器(qi)、錐形介電彈(dan)性體驅動器(qi)、激振(zhen)器(qi)、電腦等。

　　實驗過程：

　　圖1：基于逆整形(xing)控制的錐形(xing)介電彈(dan)性(xing)體主(zhu)動隔振(zhen)系統示意圖

　　搭建如圖1所(suo)示(shi)的(de)(de)隔振(zhen)系統，采用丙(bing)烯酸和(he)碳膏制(zhi)(zhi)(zhi)作錐形(xing)(xing)介(jie)(jie)電(dian)(dian)彈(dan)(dan)性體驅動(dong)器(qi)(qi)(qi)(qi)(qi)，給與一(yi)定的(de)(de)預拉(la)伸率(lv)和(he)附加質量。剛(gang)性支撐結構將(jiang)介(jie)(jie)電(dian)(dian)彈(dan)(dan)性體驅動(dong)器(qi)(qi)(qi)(qi)(qi)與激振(zhen)器(qi)(qi)(qi)(qi)(qi)剛(gang)性連(lian)接，由(you)信(xin)(xin)號(hao)發(fa)生器(qi)(qi)(qi)(qi)(qi)給出不(bu)同的(de)(de)激振(zhen)信(xin)(xin)號(hao)，控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)(qi)(qi)(qi)為基(ji)于(yu)逆整形(xing)(xing)的(de)(de)主(zhu)動(dong)隔振(zhen)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)(qi)(qi)(qi)，控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)(qi)(qi)(qi)由(you)平(ping)方(fang)根非線(xian)性補償器(qi)(qi)(qi)(qi)(qi)、PID反饋控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)(qi)(qi)(qi)和(he)A-EID逆整形(xing)(xing)器(qi)(qi)(qi)(qi)(qi)組成。控(kong)(kong)(kong)制(zhi)(zhi)(zhi)信(xin)(xin)號(hao)通過高(gao)壓(ya)放大器(qi)(qi)(qi)(qi)(qi)進行放大，以電(dian)(dian)壓(ya)信(xin)(xin)號(hao)的(de)(de)形(xing)(xing)式施加到錐形(xing)(xing)介(jie)(jie)電(dian)(dian)彈(dan)(dan)性體驅動(dong)器(qi)(qi)(qi)(qi)(qi)上。由(you)激光位移傳(chuan)感器(qi)(qi)(qi)(qi)(qi)和(he)數據采集(ji)裝置將(jiang)輸出的(de)(de)位移信(xin)(xin)號(hao)同時反饋給電(dian)(dian)腦和(he)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)(qi)(qi)(qi)，反饋信(xin)(xin)號(hao)輸入(ru)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)(qi)(qi)(qi)以形(xing)(xing)成反饋控(kong)(kong)(kong)制(zhi)(zhi)(zhi)閉環(huan)，同時在電(dian)(dian)腦上顯示(shi)并(bing)等待處理(li)分析，測(ce)試錐形(xing)(xing)介(jie)(jie)電(dian)(dian)彈(dan)(dan)性體驅動(dong)器(qi)(qi)(qi)(qi)(qi)在施加控(kong)(kong)(kong)制(zhi)(zhi)(zhi)前后(hou)的(de)(de)時域、頻域的(de)(de)響應(ying)曲線(xian)及位移傳(chuan)遞系數曲線(xian)，以評估(gu)系統的(de)(de)減振(zhen)性能并(bing)對比分析。

　　實驗結果：

　　圖2：主(zhu)動(dong)(dong)隔(ge)(ge)振系統(tong)對(dui)5Hz單頻諧(xie)振的(de)隔(ge)(ge)振效果（a)主(zhu)動(dong)(dong)隔(ge)(ge)振和被動(dong)(dong)隔(ge)(ge)振的(de)隔(ge)(ge)振效果比較；b)兩種主(zhu)動(dong)(dong)控制(zhi)方法的(de)隔(ge)(ge)振效果比較）

　　驗(yan)證系(xi)統(tong)對于單頻(pin)諧(xie)波振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)的(de)(de)(de)隔振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)性能(neng)，諧(xie)波振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)在往(wang)復(fu)式機(ji)械設備和(he)不(bu)平衡(heng)的(de)(de)(de)電動(dong)(dong)(dong)機(ji)中很常(chang)見，其振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)頻(pin)率通(tong)常(chang)與運(yun)行速度有(you)關。將錐(zhui)形(xing)介(jie)電彈性體(ti)執(zhi)行器(qi)(qi)放置在激振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)器(qi)(qi)和(he)7.1g的(de)(de)(de)負載質量(liang)之間(jian)，激振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)器(qi)(qi)向基(ji)座施加幅值為(wei)(wei)(wei)1mm，頻(pin)率分(fen)別為(wei)(wei)(wei)5Hz，15Hz，20Hz的(de)(de)(de)單頻(pin)正弦信(xin)號，控(kong)(kong)制(zhi)(zhi)器(qi)(qi)向DEA施加主動(dong)(dong)(dong)控(kong)(kong)制(zhi)(zhi)，測(ce)量(liang)負載質量(liang)的(de)(de)(de)運(yun)動(dong)(dong)(dong)位移(yi)以評估系(xi)統(tong)的(de)(de)(de)主動(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)效(xiao)果(guo)。如(ru)圖(tu)2所示，對于5Hz的(de)(de)(de)單頻(pin)正弦激振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)信(xin)號，未(wei)施加主動(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)制(zhi)(zhi)的(de)(de)(de)系(xi)統(tong)振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)幅值為(wei)(wei)(wei)1.03mm，單獨的(de)(de)(de)PID反饋控(kong)(kong)制(zhi)(zhi)下的(de)(de)(de)最(zui)大振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)幅值為(wei)(wei)(wei)0.092mm，振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)在被動(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)的(de)(de)(de)基(ji)礎上降(jiang)低了91.07%，基(ji)于A-EID逆整形(xing)的(de)(de)(de)PID反饋控(kong)(kong)制(zhi)(zhi)下的(de)(de)(de)最(zui)大振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)幅值為(wei)(wei)(wei)0.089mm，振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)動(dong)(dong)(dong)降(jiang)低了91.36%，兩種隔振(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)效(xiao)果(guo)差別不(bu)大。

　　圖(tu)3：系(xi)統(tong)對15Hz單頻諧振(zhen)的(de)隔(ge)(ge)振(zhen)效果(guo)（a)主動隔(ge)(ge)振(zhen)和被(bei)動隔(ge)(ge)振(zhen)的(de)隔(ge)(ge)振(zhen)效果(guo)比較；b)兩種(zhong)主動控制方(fang)法的(de)隔(ge)(ge)振(zhen)效果(guo)比較）

　　如(ru)圖(tu)(tu)3所(suo)(suo)示(shi)，對于(yu)(yu)(yu)15Hz的(de)(de)單頻正(zheng)弦激振(zhen)(zhen)(zhen)信(xin)號，未施加主(zhu)動(dong)(dong)(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)控(kong)制(zhi)(zhi)的(de)(de)系(xi)統振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)幅(fu)(fu)值(zhi)為1.37mm，單獨(du)的(de)(de)PID反(fan)饋(kui)控(kong)制(zhi)(zhi)下的(de)(de)最大(da)振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)幅(fu)(fu)值(zhi)為0.031mm，振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)在(zai)被動(dong)(dong)(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)的(de)(de)基(ji)礎上降(jiang)(jiang)低了97.74%，基(ji)于(yu)(yu)(yu)A-EID逆(ni)整形(xing)(xing)的(de)(de)PID反(fan)饋(kui)控(kong)制(zhi)(zhi)下的(de)(de)最大(da)振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)幅(fu)(fu)值(zhi)為0.012mm，振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)降(jiang)(jiang)低了99.12%，基(ji)于(yu)(yu)(yu)A-EID逆(ni)整形(xing)(xing)的(de)(de)PID反(fan)饋(kui)控(kong)制(zhi)(zhi)幾乎完全隔離了振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)。如(ru)圖(tu)(tu)4所(suo)(suo)示(shi)，對于(yu)(yu)(yu)20Hz的(de)(de)單頻正(zheng)弦激振(zhen)(zhen)(zhen)信(xin)號，未施加主(zhu)動(dong)(dong)(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)控(kong)制(zhi)(zhi)的(de)(de)系(xi)統振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)幅(fu)(fu)值(zhi)為1.93mm，單獨(du)的(de)(de)PID反(fan)饋(kui)控(kong)制(zhi)(zhi)下的(de)(de)最大(da)振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)幅(fu)(fu)值(zhi)為0.023mm，振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)在(zai)被動(dong)(dong)(dong)(dong)(dong)隔振(zhen)(zhen)(zhen)的(de)(de)基(ji)礎上降(jiang)(jiang)低了98.81%，基(ji)于(yu)(yu)(yu)A-EID逆(ni)整形(xing)(xing)的(de)(de)PID反(fan)饋(kui)控(kong)制(zhi)(zhi)下的(de)(de)最大(da)振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)幅(fu)(fu)值(zhi)為0.003mm，振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)降(jiang)(jiang)低了99.84%，基(ji)于(yu)(yu)(yu)A-EID逆(ni)整形(xing)(xing)的(de)(de)PID反(fan)饋(kui)控(kong)制(zhi)(zhi)幾乎完全隔離了振(zhen)(zhen)(zhen)動(dong)(dong)(dong)(dong)(dong)。

　　圖4：系(xi)統對20Hz單頻諧振(zhen)(zhen)的(de)隔(ge)振(zhen)(zhen)效果（a)主動隔(ge)振(zhen)(zhen)和被(bei)動隔(ge)振(zhen)(zhen)的(de)隔(ge)振(zhen)(zhen)效果比較；b)兩種主動控(kong)制方法的(de)隔(ge)振(zhen)(zhen)效果比較）

　　驗證系(xi)(xi)統(tong)(tong)對于線性(xing)(xing)時變(bian)振動(dong)的(de)(de)隔(ge)振性(xing)(xing)能(neng)，將(jiang)錐形介電彈性(xing)(xing)體執行器(qi)(qi)放置在(zai)激振器(qi)(qi)和7.1g的(de)(de)負載質量之(zhi)間，激振器(qi)(qi)向基(ji)座(zuo)施加(jia)幅值為1mm，頻率(lv)在(zai)5-30Hz范圍內按1Hz?s的(de)(de)掃(sao)頻速率(lv)線性(xing)(xing)增加(jia)的(de)(de)正(zheng)弦掃(sao)頻信號，控制器(qi)(qi)向DEA施加(jia)主(zhu)動(dong)控制，測量負載質量的(de)(de)運動(dong)位(wei)移以評估(gu)系(xi)(xi)統(tong)(tong)的(de)(de)主(zhu)動(dong)隔(ge)振效果(guo)。如圖(tu)5所示，相較于單獨(du)的(de)(de)PID反饋(kui)控制，基(ji)于A-EID逆整形的(de)(de)PID反饋(kui)控制在(zai)整個掃(sao)頻頻段的(de)(de)隔(ge)振效果(guo)更好，尤其在(zai)DEA的(de)(de)共振區附(fu)近的(de)(de)振動(dong)隔(ge)離能(neng)力最強。

　　圖5：系統對掃頻信號(hao)的隔振效果(guo)（a)主動(dong)隔振和被(bei)動(dong)隔振的隔振效果(guo)比較；b)兩(liang)種主動(dong)控制(zhi)方(fang)法的隔振效果(guo)比較）

　　?高壓放(fang)大器推薦(jian)：ATA-7025

　　圖：ATA-7025高壓放大器指標參數

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