低电压介电弹性体面内驱动技术及薄壁结构形状与振动一体化控制研究

In many engineering fields, the shape and vibration control for flexible thin-walled structural members undergoing large deformation have to be considered simultaneously in order to guarantee high-precision and high-performance of equipments. Dielectric elastomers is a new kind of smart material and has advantages of large deformation and rapid response. However, dielectric elastomers needs high voltage to drive. Therefore, the project develops a kind of laminated dielectric elastomer plane actuator (LDPA) and investigates the shape and vibration integrated control of flexible thin-walled structures undergoing large deformation through in-plane drive under low voltage. The main research contents include: 1) modeling for electromechanically coupling characteristics of shape and vibration integrated control system of thin-walled structures with LDPA, 2) driven properties analysis and optimal design of LDPA under low control voltage, 3) location placement optimization of LDPA in shape and vibration integrated control system of flexible thin-walled structure, 4) control strategy and optimization for shape and vibration integrated control of flexible thin-walled structure, 5) experimental technique of shape and vibration integrated control of flexible thin-walled structure. Through the project, it is intended to provide the modeling method for electromechanically coupling characteristics of shape and vibration integrated control system of thin-walled structures using LDPA and location placement optimization approach of LDPA, to develop high-performance control strategy for shape and vibration integrated control, and to realize successfully the shape and vibration integrated control of flexible thin-walled structure undergoing large deformation under low control voltage. As a result, a new and high-efficiency smart structure control theory and technology could be provided for the relevant engineering fields and the application of dielectric elastomer material be advanced as well.

在许多工程领域，需要对大变形柔性薄壁结构部件的形状和振动同时进行控制，以满足设备的高精度与高性能要求。介电弹性体是一种新型智能材料，变形大，响应快，但需要高电压驱动。为此，本项目发展一种层叠式介电弹性平面作动器，开展低电压面内驱动下大变形薄壁结构形状与振动一体化控制研究，主要包括：1）含层叠式介电弹性平面作动器的薄壁结构形状与振动一体化控制系统机电耦合特性动力学建模；2) 低电压下作动器的驱动特性分析与优化设计；3）形状与振动一体化控制中作动器的位置优化；4）形状与振动一体化控制策略及优化；5）形状与振动一体化控制实验技术。通过上述研究，建立薄壁结构形状与振动一体化控制动力学建模方法，给出作动器位置优化设计方法，发展高性能的形状与振动一体化控制策略，实现低电压驱动下大变形薄壁结构的形状与振动一体化控制，为相关领域提供新型高效的智能结构控制理论与技术，促进介电弹性智能材料的工程应用。

为了实现大变形薄壁结构形状与振动的一体化控制目标，本项目提出一种层叠式平面介电弹性作动器，以典型柔性薄壁结构为控制对象，开展了系统的形状与振动控制理论建模、仿真分析与实验研究，具体的研究内容和主要结果如下：（1）以介电弹性体的热力学模型和柔性薄壁结构的本构模型为基础，采用有限元方法建立了含层叠式平面介电弹性作动器的柔性薄壁结构的形状与振动一体化控制方程，进而得到作动器的驱动力方程，并对其驱动力特性进行了仿真和实验分析对比；（2）为了实现高精度的形状控制目标，采用多组作动器分布式配置方式，利用自适应遗传优化算法对多组作动器的位置和驱动电压进行优化，最终实现了基于层叠式平面DE作动器的柔性梁结构形状控制；（3）针对层叠式平面DE作动器的非线性驱动特性，提出了一种作动力-电压强非线性的动态补偿模型，结合PID控制策略、模糊控制策略，并将其应用于柔性薄梁和薄板结构的振动控制中，仿真与实验结果均显示出在低电压下良好的振动主动控制效果；（4）针对形状与振动一体化控制需求，引入模糊-滑模变结构控制策略，在层叠式平面介电弹性作动器控制下实现了外部扰动下柔性薄膜结构的形状跟踪控制。进一步提出了一种层数优化的分布式作动器配置方式，以实现单通道电压控制下柔性薄膜结构的复杂形状控制，从而大大减小了控制系统的复杂性；（5）引入一种无预拉伸介电弹性薄膜，并将其应用到柔性薄壁结构的控制中。与传统需预拉伸介电弹性作动器相比，该种方式能够有效避免预拉伸力对被控结构的初始变形影响。通过上述研究，建立起了低电压驱动下基于层叠式DE平面作动器的大变形薄壁结构形状与振动一体化控制理论，发展了相关技术，为相关领域提供了一种新型的轻质、紧凑及大驱动变形的智能结构控制技术。