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Development of hydraulic actuators driven by piezoelectric elements

压电元件驱动液压执行器的开发

基本信息

批准号：
05805024
负责人：
KONISHI Katsunobu
金额：
$ 1.28万
依托单位：
The University of Tokushima
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

项目摘要

Hydraulic actuators driven by the multilayred piezoelectric elements were investigated in this research, as a basis to develop a new light-weight small-size actuators for robotic and mechatoronic devices. Results of the research are summarized as follows.1.Enlargement of the output power of a piezoelectric pump :A piezoelectric pump had been made by author before the grant-in-aid was given, and its maximum pumping power and energy efficiency of 34W and 27% had been obtained. In this research, they were increased to 62W and 35%, respectively, by the use of appropriate length of the resonant pipes and the use of proper area of the diaphragm.2.Position control of a hydraulic actuator system :A hydraulic actuator system was constructed using the piezoelectric pump mentioned above, a hydraulic cylinder and a control valve. The energy input to this system was only the electrical power to drive the pump, since the pilot pressure for the control valve was generated in the pump as the maximum pressure in the pumping chamber. A controller including the disturbance observer was designed to the actuator system. The performance of position control accuracy and response frequency were approximately 10mum and 10Hz, respectively.3.Simulation of the hydraulic actuator :A set of mathematical models for the each element of the actuator system was constructed in this research, and its veridity was confired by the comparison with the simulation results and the experimental results. A parametric optimization of the piezoelectric pump was also carried out for the various values of the cross sectional area of the diaphrage and the pumping valves, and the enlargement of the pumping output by 2.6 times was predicted.

本研究以多层压电元件驱动之液压作动器为研究对象，为开发一种新型之轻量化小型作动器，应用于机器人及机电一体化装置提供基础。主要研究结果如下：1.压电泵输出功率的提高：在获得资助前，作者自行研制了一台压电泵，获得了最大泵浦功率34 W，能量效率27%的实验结果。在本研究中，通过使用适当长度的谐振管和使用适当的面积的隔膜，它们分别增加到62 W和35%。2.液压致动器系统的位置控制：使用上述压电泵，液压缸和控制阀构建液压致动器系统。输入到该系统的能量仅仅是驱动泵的电力，因为用于控制阀的先导压力在泵中产生为泵送室中的最大压力。设计了包含扰动观测器的控制器。位置控制精度和响应频率分别约为10 μ m和10Hz。3.液压作动器的仿真：建立了作动器系统各元件的数学模型，并通过仿真结果和实验结果的对比验证了其正确性。对不同横截面积的膜片和抽气阀进行了参数优化，预测泵输出功率可提高2.6倍。