圓柱形介電型EAP驅(qū)動(dòng)器特性研究
發(fā)布時(shí)間：2018-07-27 15:31
【摘要】：介電型電活性聚合物(Electroactive Polymer,EAP)是一種具有粘彈性的高分子聚合物,能實(shí)現(xiàn)電能向機(jī)械能的轉(zhuǎn)換,具有變形大、運(yùn)動(dòng)平滑、零噪聲、能量密度高、響應(yīng)速度較快等優(yōu)點(diǎn),在仿生機(jī)器人、康復(fù)訓(xùn)練等領(lǐng)域具有潛在應(yīng)用前景。本文在國(guó)家、省自然科學(xué)基金項(xiàng)目的資助下深入研究介電型EAP膜(VHB4910)的粘超彈性行為,對(duì)圓柱形結(jié)構(gòu)的驅(qū)動(dòng)器進(jìn)行理論和試驗(yàn)研究,為該類型驅(qū)動(dòng)器的設(shè)計(jì)、分析與應(yīng)用提供依據(jù)與指導(dǎo)。根據(jù)連續(xù)介質(zhì)力學(xué)理論,推導(dǎo)了常用應(yīng)變能函數(shù)對(duì)應(yīng)的EAP膜應(yīng)力應(yīng)變表達(dá)式,提出了一種彈性模量參數(shù)少的非線性超彈性模型。構(gòu)建了EAP膜的等雙軸拉伸裝置,采用等雙軸邊角點(diǎn)固定拉伸法對(duì)膜進(jìn)行拉伸,根據(jù)拉伸數(shù)據(jù)對(duì)模型參數(shù)進(jìn)行擬合,對(duì)常用超彈性模型的擬合精度進(jìn)行了對(duì)比。利用有限元軟件ABAQUS對(duì)EAP膜的拉伸過程進(jìn)行仿真,結(jié)果表明等雙軸邊角點(diǎn)固定拉伸與等雙軸理想拉伸之間的名義應(yīng)力誤差小。基于廣義Maxwell模型推導(dǎo)了準(zhǔn)線性粘彈性模型的Prony級(jí)數(shù),通過等雙軸松弛試驗(yàn)擬合其系數(shù),利用該粘彈性模型對(duì)等雙軸拉伸-松弛過程進(jìn)行仿真,試驗(yàn)與仿真結(jié)果較吻合。提出一種基于Ogden模型彈性網(wǎng)絡(luò)的非線性粘彈性模型,根據(jù)不同拉伸速度下的測(cè)試數(shù)據(jù)對(duì)模型參數(shù)進(jìn)行擬合,推導(dǎo)了EAP膜的粘彈性機(jī)電耦合方程,分析了在自由狀態(tài)和單方向約束狀態(tài)下EAP膜的工作穩(wěn)定性,分析結(jié)果表明:在自由狀態(tài)下,EAP膜厚度變薄超過37%時(shí)會(huì)發(fā)生機(jī)電失穩(wěn),粘性流動(dòng)能增大其穩(wěn)定工作范圍,獲得更大的變形;預(yù)拉伸能提高EAP膜的相對(duì)臨界延伸率,減小作用電壓(或名義電場(chǎng))。分析了圓柱形驅(qū)動(dòng)器中EAP膜的應(yīng)力狀態(tài),以及EAP膜卷繞后的徑向收縮及膜層間壓力等對(duì)其軸向應(yīng)力的影響。研究了驅(qū)動(dòng)器的軸向伸長(zhǎng)、最內(nèi)層EAP膜的徑厚比及卷繞層數(shù)對(duì)膜厚度的影響。結(jié)合EAP膜機(jī)電耦合方程,進(jìn)行了驅(qū)動(dòng)器的靜態(tài)電壓-位移特性分析,分析與試驗(yàn)結(jié)果相吻合。分析驅(qū)動(dòng)器的失效模式,研究其在有效工作范圍內(nèi)的參數(shù)——預(yù)拉伸率、卷繞層數(shù)、彈簧參數(shù)對(duì)其輸出位移和力的影響,可為驅(qū)動(dòng)器的參數(shù)選擇提供依據(jù)。建立圓柱形驅(qū)動(dòng)器的動(dòng)態(tài)模型,研究其階躍、斜坡和周期激勵(lì)電壓下的動(dòng)態(tài)響應(yīng)。在階躍電壓時(shí),增加電壓能產(chǎn)生較大位移且粘性變形更明顯,預(yù)拉伸能獲得更大的瞬時(shí)彈性變形,但粘性變形小;減小斜坡電壓的上升速率能獲得更大的瞬時(shí)伸長(zhǎng)率;改變周期電壓的相對(duì)偏移量,驅(qū)動(dòng)器產(chǎn)生不同位移輸出,但增加頻率,會(huì)抑制其輸出幅值。驅(qū)動(dòng)器動(dòng)態(tài)試驗(yàn)表明了根據(jù)2個(gè)參數(shù)的粘彈性模型得到的分析結(jié)果與試驗(yàn)更接近,驗(yàn)證了周期激勵(lì)電壓下頻率對(duì)位移幅值的影響,并發(fā)現(xiàn)驅(qū)動(dòng)器的“激勵(lì)死區(qū)”會(huì)減小其振動(dòng)中心偏移及振動(dòng)幅度。構(gòu)建了圓柱形驅(qū)動(dòng)器等效電路模型,測(cè)試其參數(shù)。計(jì)算表明,在圓柱形驅(qū)動(dòng)器中,VHB膜材料的相對(duì)介電常數(shù)取εr=3.24與試驗(yàn)結(jié)果較吻合。驅(qū)動(dòng)器漏電流試驗(yàn)表明漏電流是影響驅(qū)動(dòng)器效率的重要因素。在準(zhǔn)靜態(tài)工作循環(huán)試驗(yàn)中,由于電容儲(chǔ)存能量及漏電流損耗,使對(duì)驅(qū)動(dòng)器機(jī)電轉(zhuǎn)換效率產(chǎn)生較大影響。
[Abstract]:Electroactive Polymer (EAP) is a kind of viscoelastic polymer. It can convert electrical energy to mechanical energy. It has many advantages, such as large deformation, smooth motion, zero noise, high energy density, fast response and so on. It has potential application prospects in the fields of biomimetic machines and rehabilitation training. Under the support of the Provincial Natural Science Fund project, the viscoelastic behavior of the dielectric EAP film (VHB4910) is studied deeply. The actuator of the cylindrical structure is studied theoretically and experimentally. The basis and guidance for the design, analysis and application of this type of actuator are provided. According to the theory of continuous dielectric mechanics, the corresponding EA of the common strain energy function is derived. A nonlinear superelastic model with less modulus of elastic modulus is proposed in the expression of stress and strain of P film. A double axis stretching device for EAP film is constructed. The film is stretched by equal double axis corner fixed tension method. The model parameters are fitted according to the tensile data, and the fitting accuracy of the commonly used hyperelastic models is compared. The finite element software ABAQUS simulates the stretching process of the EAP film. The results show that the nominal stress error between the fixed double axis corner point fixed tension and the equal biaxial ideal tension is small. Based on the generalized Maxwell model, the Prony series of the quasi linear viscoelastic model is derived, and the coefficient is fitted by the equal double axis relaxation test, and the viscoelastic model is used for equivalence. The two axis tensile relaxation process is simulated. The test results are in good agreement with the simulation results. A nonlinear viscoelastic model based on the Ogden model elastic network is proposed. The model parameters are fitted according to the test data at different tensile velocity. The viscoelastic electromechanical coupling equation of the EAP film is derived, and the free state and the single direction constraint are analyzed. The working stability of the EAP film under the condition of state shows that the mechanical and electrical instability will occur when the thickness of the EAP film thins more than 37% in the free state. The viscous flow can increase its stable working range and obtain greater deformation. The pretension can increase the relative critical elongation of the EAP film and reduce the action voltage (or nominal electric field). The stress state of the medium EAP film, the effect of the radial contraction and the interlayer pressure on the axial stress after the EAP film winding, and the influence of the axial elongation of the actuator, the diameter thickness ratio of the most inner layer EAP film and the number of winding layers on the thickness of the film. The static voltage displacement characteristics of the actuator are analyzed and the analysis of the static voltage displacement characteristics of the actuator is carried out. It is consistent with the test results. The failure mode of the driver is analyzed, and the parameters of the effective working range, such as the pretension rate, the number of winding layers, the effect of the spring parameters on its output displacement and force, can provide the basis for the selection of the parameters of the driver. The dynamic model of a cylindrical driver is set up to study the step, slope and periodic excitation of the drive. Under the step voltage, the increase of voltage can produce larger displacement and more obvious viscous deformation. The pretension can obtain greater instantaneous elastic deformation, but the viscous deformation is small; the increase rate of the slope voltage can be reduced to a greater instantaneous elongation; the relative displacement of the periodic voltage can be changed, and the drive produces different displacement and transport. The drive dynamic test shows that the analysis results obtained by the viscoelastic model of the 2 parameters are closer to the test, and the effect of the frequency on the displacement amplitude under the periodic excitation voltage is verified, and it is found that the "exciting dead zone" of the drive will reduce the vibration center offset and the amplitude of the vibration. The equivalent circuit model of a cylindrical driver is built and its parameters are tested. The calculation shows that the relative dielectric constant of the VHB film material is in agreement with the experimental results in a cylindrical drive. The leakage current test shows that the leakage current is an important factor affecting the efficiency of the driver. In the quasi static working cycle test, the storage capacity is stored due to the storage capacity. The energy and leakage current losses greatly affect the electromechanical conversion efficiency of the driver.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TQ317;TH703
[Abstract]:Electroactive Polymer (EAP) is a kind of viscoelastic polymer. It can convert electrical energy to mechanical energy. It has many advantages, such as large deformation, smooth motion, zero noise, high energy density, fast response and so on. It has potential application prospects in the fields of biomimetic machines and rehabilitation training. Under the support of the Provincial Natural Science Fund project, the viscoelastic behavior of the dielectric EAP film (VHB4910) is studied deeply. The actuator of the cylindrical structure is studied theoretically and experimentally. The basis and guidance for the design, analysis and application of this type of actuator are provided. According to the theory of continuous dielectric mechanics, the corresponding EA of the common strain energy function is derived. A nonlinear superelastic model with less modulus of elastic modulus is proposed in the expression of stress and strain of P film. A double axis stretching device for EAP film is constructed. The film is stretched by equal double axis corner fixed tension method. The model parameters are fitted according to the tensile data, and the fitting accuracy of the commonly used hyperelastic models is compared. The finite element software ABAQUS simulates the stretching process of the EAP film. The results show that the nominal stress error between the fixed double axis corner point fixed tension and the equal biaxial ideal tension is small. Based on the generalized Maxwell model, the Prony series of the quasi linear viscoelastic model is derived, and the coefficient is fitted by the equal double axis relaxation test, and the viscoelastic model is used for equivalence. The two axis tensile relaxation process is simulated. The test results are in good agreement with the simulation results. A nonlinear viscoelastic model based on the Ogden model elastic network is proposed. The model parameters are fitted according to the test data at different tensile velocity. The viscoelastic electromechanical coupling equation of the EAP film is derived, and the free state and the single direction constraint are analyzed. The working stability of the EAP film under the condition of state shows that the mechanical and electrical instability will occur when the thickness of the EAP film thins more than 37% in the free state. The viscous flow can increase its stable working range and obtain greater deformation. The pretension can increase the relative critical elongation of the EAP film and reduce the action voltage (or nominal electric field). The stress state of the medium EAP film, the effect of the radial contraction and the interlayer pressure on the axial stress after the EAP film winding, and the influence of the axial elongation of the actuator, the diameter thickness ratio of the most inner layer EAP film and the number of winding layers on the thickness of the film. The static voltage displacement characteristics of the actuator are analyzed and the analysis of the static voltage displacement characteristics of the actuator is carried out. It is consistent with the test results. The failure mode of the driver is analyzed, and the parameters of the effective working range, such as the pretension rate, the number of winding layers, the effect of the spring parameters on its output displacement and force, can provide the basis for the selection of the parameters of the driver. The dynamic model of a cylindrical driver is set up to study the step, slope and periodic excitation of the drive. Under the step voltage, the increase of voltage can produce larger displacement and more obvious viscous deformation. The pretension can obtain greater instantaneous elastic deformation, but the viscous deformation is small; the increase rate of the slope voltage can be reduced to a greater instantaneous elongation; the relative displacement of the periodic voltage can be changed, and the drive produces different displacement and transport. The drive dynamic test shows that the analysis results obtained by the viscoelastic model of the 2 parameters are closer to the test, and the effect of the frequency on the displacement amplitude under the periodic excitation voltage is verified, and it is found that the "exciting dead zone" of the drive will reduce the vibration center offset and the amplitude of the vibration. The equivalent circuit model of a cylindrical driver is built and its parameters are tested. The calculation shows that the relative dielectric constant of the VHB film material is in agreement with the experimental results in a cylindrical drive. The leakage current test shows that the leakage current is an important factor affecting the efficiency of the driver. In the quasi static working cycle test, the storage capacity is stored due to the storage capacity. The energy and leakage current losses greatly affect the electromechanical conversion efficiency of the driver.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TQ317;TH703
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