面向生物工程的精密定位机构及其动力学特性研究
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摘要
精密定位技术在一定程度上体现了一个国家的制造水平和科技实力。随着生物医学的快速发展,基于精密定位技术的显微操作技术在细胞操作领域也得到了大力发展。由于细胞操作的特殊性,要求面向生物工程的精密定位系统应具有毫米级的工作行程和亚微米级的定位精度。本文结合教育部博士点基金项目“生物细胞显微操作机器人关键技术研究”(No.20090095110012)和江苏省高等学校研究生培养创新工程“微动工作台微位移检测及误差补偿方法研究”(No.CX09B_109Z),在吸收和借鉴相关领域的新思路、新技术的基础上,采取理论研究、有限元仿真和实验验证相结合的方法,对压电式微操作平台系统的解耦型大行程微操作平台的构型设计、静力学和动力学建模技术、微操作平台的控制技术等方面进行了研究。
紧密联系面向生物工程的精密定位系统的技术需求,设计了一种新型基于直角柔性铰链的集柔性导向机构和桥式微位移放大机构于一体的全对称解耦型大行程二维微操作平台。考虑到柔性导向机构和桥式微位移放大机构对二维微操作平台的性能影响,根据结构的对称性,利用半结构模型建立了柔性导向机构的静刚度模型,利用四分之一模型建立了桥式微位移放大机构的位移放大比模型,在此基础上,采用矩阵法建立了二维微操作平台的静力学模型,并推导了其位移放大比、静刚度等计算公式。
考虑到柔性铰链尺寸参数对其性能的影响,将柔性机构分为以柔顺杆为主要特征的柔性机构和以柔性铰链为主要特征的柔性机构,并分别采用有限元方法和集中质量法来建立其动力学模型。针对以柔顺杆为主要特征的柔性机构,选择矩形截面的2节点梁单元作为基本模型单元,在建立基本梁单元的运动微分方程的基础上,通过装配的方式获得了整体机构的动力学模型;针对以柔性铰链为主要特征的柔性机构,将柔性铰链等效为拉伸弹簧和扭转弹簧的组合体,并将均匀分布的质量视为质量集中的质点,结合Lagrange方程,建立了其动力学解析模型。
为了验证所建立的静力学和动力学模型的有效性,采用基于虚拟样机技术的有限元仿真软件对微操作平台的工作行程、位移放大比、固有频率等特性进行了仿真分析,并分析了主要尺寸参数对微操作平台的微位移放大比和固有频率的影响。有限元仿真的结果验证了理论模型的合理性,也为二维微操作平台的优化设计和尺寸参数的选择提供了一定的理论依据。
在压电式微操作平台的控制技术方面,采取了两种不同的方案来抑制压电式微操作平台的迟滞非线性因素。一种是将压电式微操作平台系统中的迟滞非线性、未建模动态等不确定因素统统视为外界的干扰,通过干扰观测器来观测和抑制系统中的扰动,并设计了基于干扰观测器的PID双回来控制器。另一种方式是在建立压电式微操作平台迟滞模型的基础上,通过逆模型补偿的方式来抑制系统中的迟滞非线性。首先采用Bouc-Wen迟滞模型来描述系统的迟滞特性,然后利用Bouc-Wen逆模型对微操作平台系统进行迟滞补偿,并设计了基于PID滑模面的带扰动估计的滑模控制器(SMCPE-PID)。为了缓解滑模控制的抖振缺陷,且考虑到系统中还存在有模型参数不确定以及外界扰动等因素,因而引入了自适应规则,设计了自适应SMCPE-PID控制器。
最后,采用线切割的方式加工了实验样机,搭建了压电式微操作平台的实验系统,并对柔性导向机构、桥式微位移放大机构以及二维微操作平台进行了一系列的实验验证。实验结果表明,所设计的面向生物工程的精密定位系统实现了毫米级的工作行程,并具有亚微米级的位移分辨率和良好的抗干扰能力。
本论文有图91幅,表19个,参考文献166篇。
Precision positioning technology reflects the manufacturing level andtechnology capabilities of a country. With the rapid development of biomedicalengineering, Micromanipulation technique based on precision positioningtechnology also greatly develops in the field of cell manipulation. Due to theparticularity of cell manipulation, the precision positioning system for bioengineeringshould have millimeter working stroke and the displacementresolution to micron or submicron. Based on the Research Fund for the DoctoralProgram of Higher Education (No.20090095110012) and Innovation Fund Project ofJiangsu province (No.CX09B_109Z) , absorbed new thoughts, original theory andtechnology of correlative subjects to study the configuration design, static anddynamic modeling and control techniques of the piezoelectric micro operationplatform by using theoretical analysis, computer simulation and experiments.
Combining the technology need of the precision positioning system for bioengineering,a fully symmetrical decoupled large stroke micro operation platformwhich combines the flexible guiding mechanism and bridge-type microdisplacementamplifier based on right-angle flexure hinges is designed. Considering the influenceof the flexible guiding mechanism and the bridge-type microdisplacementamplification mechanism, and the symmetry of the structure, the static stiffnessmodel of the flexible guiding mechanism is established based on its semi-structuredmodel, while the displacement amplification ratio model of the bridge-type amplifieris established by using its a quarter model. On this basis, the static model ofmicrostage is built by using matrix method, and the performance of the microstagesuch as stiffness and the displacement amplification ratio are studied.
The flexible mechanism can be divided into two categories according to thesizes of the flexure hinges. The main feature of one kind is complaint bar and theother is flexure hinge. The finite element method and lumped-mass method are usedto establish their dynamic model, respectively. For the complaint bar mechanism, a2-node beam element with rectangular cross-section is selected as the basic unit. Onthe basis of the differential equation of motion of the basic beam element, thedifferential equation of motion of the whole mechanism is assemblied. For theflexible mechanism based on flexure hinges, the flexure hinge is equivalent to a spring and a torsional spring, and the uniform distribution quality is regarded as aparticle, and then the dynamic model is established based on Lagrange equation.
In order to verify the effectiveness of the established static and dynamic model,the work stroke, displacement amplification ratio, natural frequency and so on aresimulated by finite element simulation software based on virtual prototypingtechnology, and the influence of the main geometric parameters on them areanalyzed. The theoretical model are verified very well by the results of the finiteelement simulation which also provides some theoretical basis for the optimizationof the micro operation platform.
In the control technology of the piezoelectric micro operation platform, twodifferent approaches are adopted to suppress the hysteresis nonlinearity factor of thepiezoelectric microstage. One way is that the hysteresis, unmodeled dynamics andother uncertainties are treated as the disturbance of the system and a two-loopcontroller which is consist of a distrubance observer and a PID controller isproposed to suppress the hysteresis of the micropositioning system. Another way isto establish the hysteresis model of the system first, and then the hysteresis iscompensated by the inverse model. Firstly, Bouc-Wen hysteresis model is used todescribe the hysteresis of the microstage, then the hysteresis compensation is doneby the inverse model of Bouc-Wen model and a sliding mode controller with PIDsiliding surface is designed. In order to alleviate the chattering of sliding modecontrol and also take into account the remaining hysteresis and uncertainty, theadaptive rule is introduced, and then a adaptive SMCPE-PID controller is designed.
Finally, the experimental sample pieces are processed by wire cutting and theexperimental system of the piezoelectric micro operation platform is built. A seriesof experiments are carried on for the flexible guiding mechanism, the bridge-typedisplacement amplifier and the decoupled two-dimensional micro operation platform.The experimental results show that precision positioning system designed for bioengineeringcan achieve a stroke to millimeter and a displacement resolution to submicron,but also with a good ability of anti-interference and motion tracking.
There are 91 figures, 19tables and 166 references in the dissertation
紧密联系面向生物工程的精密定位系统的技术需求,设计了一种新型基于直角柔性铰链的集柔性导向机构和桥式微位移放大机构于一体的全对称解耦型大行程二维微操作平台。考虑到柔性导向机构和桥式微位移放大机构对二维微操作平台的性能影响,根据结构的对称性,利用半结构模型建立了柔性导向机构的静刚度模型,利用四分之一模型建立了桥式微位移放大机构的位移放大比模型,在此基础上,采用矩阵法建立了二维微操作平台的静力学模型,并推导了其位移放大比、静刚度等计算公式。
考虑到柔性铰链尺寸参数对其性能的影响,将柔性机构分为以柔顺杆为主要特征的柔性机构和以柔性铰链为主要特征的柔性机构,并分别采用有限元方法和集中质量法来建立其动力学模型。针对以柔顺杆为主要特征的柔性机构,选择矩形截面的2节点梁单元作为基本模型单元,在建立基本梁单元的运动微分方程的基础上,通过装配的方式获得了整体机构的动力学模型;针对以柔性铰链为主要特征的柔性机构,将柔性铰链等效为拉伸弹簧和扭转弹簧的组合体,并将均匀分布的质量视为质量集中的质点,结合Lagrange方程,建立了其动力学解析模型。
为了验证所建立的静力学和动力学模型的有效性,采用基于虚拟样机技术的有限元仿真软件对微操作平台的工作行程、位移放大比、固有频率等特性进行了仿真分析,并分析了主要尺寸参数对微操作平台的微位移放大比和固有频率的影响。有限元仿真的结果验证了理论模型的合理性,也为二维微操作平台的优化设计和尺寸参数的选择提供了一定的理论依据。
在压电式微操作平台的控制技术方面,采取了两种不同的方案来抑制压电式微操作平台的迟滞非线性因素。一种是将压电式微操作平台系统中的迟滞非线性、未建模动态等不确定因素统统视为外界的干扰,通过干扰观测器来观测和抑制系统中的扰动,并设计了基于干扰观测器的PID双回来控制器。另一种方式是在建立压电式微操作平台迟滞模型的基础上,通过逆模型补偿的方式来抑制系统中的迟滞非线性。首先采用Bouc-Wen迟滞模型来描述系统的迟滞特性,然后利用Bouc-Wen逆模型对微操作平台系统进行迟滞补偿,并设计了基于PID滑模面的带扰动估计的滑模控制器(SMCPE-PID)。为了缓解滑模控制的抖振缺陷,且考虑到系统中还存在有模型参数不确定以及外界扰动等因素,因而引入了自适应规则,设计了自适应SMCPE-PID控制器。
最后,采用线切割的方式加工了实验样机,搭建了压电式微操作平台的实验系统,并对柔性导向机构、桥式微位移放大机构以及二维微操作平台进行了一系列的实验验证。实验结果表明,所设计的面向生物工程的精密定位系统实现了毫米级的工作行程,并具有亚微米级的位移分辨率和良好的抗干扰能力。
本论文有图91幅,表19个,参考文献166篇。
Precision positioning technology reflects the manufacturing level andtechnology capabilities of a country. With the rapid development of biomedicalengineering, Micromanipulation technique based on precision positioningtechnology also greatly develops in the field of cell manipulation. Due to theparticularity of cell manipulation, the precision positioning system for bioengineeringshould have millimeter working stroke and the displacementresolution to micron or submicron. Based on the Research Fund for the DoctoralProgram of Higher Education (No.20090095110012) and Innovation Fund Project ofJiangsu province (No.CX09B_109Z) , absorbed new thoughts, original theory andtechnology of correlative subjects to study the configuration design, static anddynamic modeling and control techniques of the piezoelectric micro operationplatform by using theoretical analysis, computer simulation and experiments.
Combining the technology need of the precision positioning system for bioengineering,a fully symmetrical decoupled large stroke micro operation platformwhich combines the flexible guiding mechanism and bridge-type microdisplacementamplifier based on right-angle flexure hinges is designed. Considering the influenceof the flexible guiding mechanism and the bridge-type microdisplacementamplification mechanism, and the symmetry of the structure, the static stiffnessmodel of the flexible guiding mechanism is established based on its semi-structuredmodel, while the displacement amplification ratio model of the bridge-type amplifieris established by using its a quarter model. On this basis, the static model ofmicrostage is built by using matrix method, and the performance of the microstagesuch as stiffness and the displacement amplification ratio are studied.
The flexible mechanism can be divided into two categories according to thesizes of the flexure hinges. The main feature of one kind is complaint bar and theother is flexure hinge. The finite element method and lumped-mass method are usedto establish their dynamic model, respectively. For the complaint bar mechanism, a2-node beam element with rectangular cross-section is selected as the basic unit. Onthe basis of the differential equation of motion of the basic beam element, thedifferential equation of motion of the whole mechanism is assemblied. For theflexible mechanism based on flexure hinges, the flexure hinge is equivalent to a spring and a torsional spring, and the uniform distribution quality is regarded as aparticle, and then the dynamic model is established based on Lagrange equation.
In order to verify the effectiveness of the established static and dynamic model,the work stroke, displacement amplification ratio, natural frequency and so on aresimulated by finite element simulation software based on virtual prototypingtechnology, and the influence of the main geometric parameters on them areanalyzed. The theoretical model are verified very well by the results of the finiteelement simulation which also provides some theoretical basis for the optimizationof the micro operation platform.
In the control technology of the piezoelectric micro operation platform, twodifferent approaches are adopted to suppress the hysteresis nonlinearity factor of thepiezoelectric microstage. One way is that the hysteresis, unmodeled dynamics andother uncertainties are treated as the disturbance of the system and a two-loopcontroller which is consist of a distrubance observer and a PID controller isproposed to suppress the hysteresis of the micropositioning system. Another way isto establish the hysteresis model of the system first, and then the hysteresis iscompensated by the inverse model. Firstly, Bouc-Wen hysteresis model is used todescribe the hysteresis of the microstage, then the hysteresis compensation is doneby the inverse model of Bouc-Wen model and a sliding mode controller with PIDsiliding surface is designed. In order to alleviate the chattering of sliding modecontrol and also take into account the remaining hysteresis and uncertainty, theadaptive rule is introduced, and then a adaptive SMCPE-PID controller is designed.
Finally, the experimental sample pieces are processed by wire cutting and theexperimental system of the piezoelectric micro operation platform is built. A seriesof experiments are carried on for the flexible guiding mechanism, the bridge-typedisplacement amplifier and the decoupled two-dimensional micro operation platform.The experimental results show that precision positioning system designed for bioengineeringcan achieve a stroke to millimeter and a displacement resolution to submicron,but also with a good ability of anti-interference and motion tracking.
There are 91 figures, 19tables and 166 references in the dissertation
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