用于太阳翼驱动机构的超声电机非线性动力学分析与自谐振控制方法

As the spacecraft requires better performance of the solar wing drive mechanism, there is an urgent need for new power sources and drive technologies. At present, ultrasonic motor, as a power source, has shown advantages in driving space mechanisms. However, the ultrasonic motor used in the solar wing drive mechanism adopts a sandwich structure, in which nonlinear vibration frequently happens due to its working principle, material, structure, and working conditions. Based on comprehensive consideration of the piezoelectric material, bolt connection, contact and friction between stators and movers, and other factors, this project aims to establish a nonlinear dynamic model for the sandwich ultrasonic motor; study the effect of parameters such as structure, material, and excitation signal on dynamic characteristics of the system, reveal the nonlinear dynamic characteristics of the motor, and locate the stability region of the parameter space; study the formation mechanism of self-excited vibration of the motor under mechanical-electrical coupling and clarify the operating principle of self-excited vibration of the motor. According to output signal shifting and amplifying, a positive feedback mechanism is established, the negative feedback is introduced for amplitude control, and a self-tuning and adaptive autoresonant drive control method is proposed to solve the nonlinear vibration control problem of the motor to achieve high efficiency, high stability, high precision and very low speed operation so as to support the entire optimization and performance improvement of the solar wing driving mechanism of the spacecraft. Therefore, this project is of great theoretical significance and engineering value.

随着对航天器太阳翼驱动机构性能指标的提高，迫切需求新型动力源和驱动技术。目前，超声电机作为动力源已显示出了在空间机构驱动方面的优势。然而，用于太阳翼驱动机构的超声电机采用夹心式结构，受自身工作原理、材料、结构以及工况影响，易发生非线性振动，严重影响系统效率、稳定性和可靠性。本项目综合考虑压电材料、螺栓连接和定动子接触摩擦等因素建立夹心式超声电机非线性动力学模型；研究结构、材料和激励信号等参数对系统动态特性的影响，揭示电机非线性动力学特性，探明参数空间的稳定性区域；研究力电耦合作用下电机自激振动形成机制，阐明电机自激振动运行原理；通过对输出信号进行移相和放大，建立正反馈机制，引入负反馈进行幅值控制，建立自调谐、自适应的电机自谐振驱动控制方法，解决电机非线性振动控制问题，实现电机高效率、高稳定性、高精度和极低速运行，支持航天器太阳翼驱动机构的整体优化和性能提升，具有重要的理论意义和工程价值。

为解决夹心式超声电机应用于航天器太阳翼驱动机构的非线性振动及高性能控制问题，开展了电机动力学建模、分析和驱动控制研究。针对定动子间摩擦、接触和间隙问题，建立了考虑表面粗糙度的定动子接触动力学模型，揭示了微幅振动与宏观运动转换机制和能量传递规律；针对目前航天设备轻量化需求，建立了考虑材料粘弹性的聚合物基夹心式超声电机定子动力学模型，为该类型电机设计和性能预测提供了基础。针对大电压激励下电机非线性问题，提出了基于等效电路方法的电机非线性动力学模型，采用拉格朗日动力学方法分析了系统非线性特性，揭示非线性振动对电机特性影响规律，并建立一套相应的非线性模型参数识别方法，分析了电机自激振动工作模式。研究了考虑非线性因素的电机调频、调相和调幅控制方式，提出了自谐振驱动控制方法，解决了大电压激励下电机幅频域的跳跃问题，设计了输出信号正反馈、幅值负反馈的电机自调谐、自适应的自谐振驱动控制电路，提高了电机性能，实现了电机高效率、高稳定度、高精度和极低速驱动控制。本项目相关研究有望在特殊轨道航天器和小卫星的太阳翼驱动机构中应用。

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