圧電素子を動力源とする油圧式アクチュエータに関する研究 : 第4報, シミュレーションモデルの作成

概要

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In this paper we present mathematical models for hydraulic actuators which consist of a reciprocating pump driven by a multilayered piezoelectric element, a sigle-rod cylinder, a variable throttle valve and an accumulator, where the control input is the amplitude of rectangular wave voltages applied to the piezoelectric element. The mathematical model of the actuator was derived by considering the compressibility of the working liquid, the nonlinear characteristics of the piezoelectric element, the time delayed motion of the pumping valves, and the viscous and coulomb frictions of the cylinder. In order to confirm the validity of the proposed model, various simulations were carried out for the output power of the piezoelectric pump, the dynamic behavior of the actuator and the performance of the position control system, and good agreement with the experimental results was obtained. These simulations show that the precise description of pumping valve characteristics is crucial to the evaluation of actuator performance.
社団法人日本機械学会の論文
1997-01-25