圆柱形介电型EAP驱动器特性研究
发布时间：2018-07-27 15:31
【摘要】：介电型电活性聚合物(Electroactive Polymer,EAP)是一种具有粘弹性的高分子聚合物,能实现电能向机械能的转换,具有变形大、运动平滑、零噪声、能量密度高、响应速度较快等优点,在仿生机器人、康复训练等领域具有潜在应用前景。本文在国家、省自然科学基金项目的资助下深入研究介电型EAP膜(VHB4910)的粘超弹性行为,对圆柱形结构的驱动器进行理论和试验研究,为该类型驱动器的设计、分析与应用提供依据与指导。根据连续介质力学理论,推导了常用应变能函数对应的EAP膜应力应变表达式,提出了一种弹性模量参数少的非线性超弹性模型。构建了EAP膜的等双轴拉伸装置,采用等双轴边角点固定拉伸法对膜进行拉伸,根据拉伸数据对模型参数进行拟合,对常用超弹性模型的拟合精度进行了对比。利用有限元软件ABAQUS对EAP膜的拉伸过程进行仿真,结果表明等双轴边角点固定拉伸与等双轴理想拉伸之间的名义应力误差小。基于广义Maxwell模型推导了准线性粘弹性模型的Prony级数,通过等双轴松弛试验拟合其系数,利用该粘弹性模型对等双轴拉伸-松弛过程进行仿真,试验与仿真结果较吻合。提出一种基于Ogden模型弹性网络的非线性粘弹性模型,根据不同拉伸速度下的测试数据对模型参数进行拟合,推导了EAP膜的粘弹性机电耦合方程,分析了在自由状态和单方向约束状态下EAP膜的工作稳定性,分析结果表明:在自由状态下,EAP膜厚度变薄超过37%时会发生机电失稳,粘性流动能增大其稳定工作范围,获得更大的变形;预拉伸能提高EAP膜的相对临界延伸率,减小作用电压(或名义电场)。分析了圆柱形驱动器中EAP膜的应力状态,以及EAP膜卷绕后的径向收缩及膜层间压力等对其轴向应力的影响。研究了驱动器的轴向伸长、最内层EAP膜的径厚比及卷绕层数对膜厚度的影响。结合EAP膜机电耦合方程,进行了驱动器的静态电压-位移特性分析,分析与试验结果相吻合。分析驱动器的失效模式,研究其在有效工作范围内的参数——预拉伸率、卷绕层数、弹簧参数对其输出位移和力的影响,可为驱动器的参数选择提供依据。建立圆柱形驱动器的动态模型,研究其阶跃、斜坡和周期激励电压下的动态响应。在阶跃电压时,增加电压能产生较大位移且粘性变形更明显,预拉伸能获得更大的瞬时弹性变形,但粘性变形小;减小斜坡电压的上升速率能获得更大的瞬时伸长率;改变周期电压的相对偏移量,驱动器产生不同位移输出,但增加频率,会抑制其输出幅值。驱动器动态试验表明了根据2个参数的粘弹性模型得到的分析结果与试验更接近,验证了周期激励电压下频率对位移幅值的影响,并发现驱动器的“激励死区”会减小其振动中心偏移及振动幅度。构建了圆柱形驱动器等效电路模型,测试其参数。计算表明,在圆柱形驱动器中,VHB膜材料的相对介电常数取εr=3.24与试验结果较吻合。驱动器漏电流试验表明漏电流是影响驱动器效率的重要因素。在准静态工作循环试验中,由于电容储存能量及漏电流损耗,使对驱动器机电转换效率产生较大影响。
[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.
【学位授予单位】：南京航空航天大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：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.
【学位授予单位】：南京航空航天大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TQ317;TH703
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