超声波钻谐振控制算法设计及试验验证  

Design and experimental verification of ultrasonic drill resonance control algorithm

作　　者：全齐全[1] 金亦康 张秋葵 唐德威[1] 邓宗全[1] QUAN Qiquan;JIN Yikang;ZHANG Qiukui;TANG Dewei;DENG Zongquan(State Key Laboratory of Robotics and Systems(Harbin Institute of Technology),Harbin 150001,China)

机构地区：[1]机器人技术与系统国家重点实验室(哈尔滨工业大学),哈尔滨150001

出　　处：《哈尔滨工业大学学报》2024年第4期73-82,共10页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金(51975139,51935005,52111530038)。

摘　　要：为解决小天体表面引力小及温差变化大难以实现锚固的问题,提出以超声波钻作为锚固工具并采用模糊控制和恒流控制相结合的策略,实现了低钻压力和高低温环境条件下的超声波钻钻进锚固。压电驱动的超声波钻将高频电能转化为高频机械振动,驱动钻具高频破碎岩石,具有极低钻压力的显著优势,尤其适用于弱引力小天体的钻进锚固作业。针对超声波钻的驱动,对超声波钻的谐振控制算法进行研究。首先,建立超声波钻换能器的等效电路模型,在等效模型基础上研究换能器的阻抗特性、负载特性、温度特性和滞后特性。其次,根据超声波钻的工作特性研究谐振频率识别算法、谐振频率跟踪算法和恒电流控制算法,针对谐振频率跟踪算法研究了基于递归最小二乘估计的频率跟踪算法和基于模糊控制的频率跟踪算法,并对实际控制效果进行对比分析。最后,进行常温常压和高低温环境下钻进试验,试验结果表明,在不同温度环境和不同的钻进对象条件下,所设计的谐振控制算法能够实现对超声波钻的稳定驱动。研究结果表明,所提出的模糊控制和恒流控制能够有效的在低钻压力以及不同温度下实现有效钻进。To solve the problem of small objects with low gravitational force and large temperature difference,we propose to use ultrasonic drill as an anchoring tool and adopt a combination of fuzzy control and constant current control strategy to achieve ultrasonic drill drilling and anchoring under low drilling pressure and high and low temperature environment conditions.The piezoelectric-driven ultrasonic drill converts high-frequency electrical energy into high-frequency mechanical vibration to drive the drilling tool to break the rock at high frequency,which has the significant advantage of very low drilling pressure and is especially suitable for drilling and anchoring operations of small bodies with weak gravity.The resonant vibration control algorithm of ultrasonic drill is studied for the drive of ultrasonic drill.Firstly,the equivalent circuit model of the ultrasonic drill transducer is established,and the impedance characteristics,load characteristics,temperature characteristics and hysteresis characteristics of the transducer are studied on the basis of the equivalent model.Secondly,the resonant frequency identification algorithm,resonant frequency tracking algorithm and constant current control algorithm are developd according to the working characteristics of ultrasonic drill.The frequency tracking algorithm based on recursive least squares estimation and the frequency tracking algorithm based on fuzzy control are studied for the resonant frequency tracking algorithm.The actual control performance of these algorithms is compared and analyzed.Finally,drilling tests are conducted under normal temperature and pressure conditions,as well as high and low temperature environments.The test results show that the designed resonant control algorithm can achieve stable driving of the ultrasonic drill under different temperature environments and different drilling object conditions.The research results show that the fuzzy control and constant current control methods proposed in this paper can effectively achieve efficien

关 键 词：小行星附着锚固 超声波钻 谐振控制 递归最小二乘法 模糊控制 

分 类 号：V476.4[航空宇航科学与技术—飞行器设计]