基于旋转行波的悬浮装置：建模、设计和控制
A rotational traveling wave based levitation device - Modeling, design, and control
摘要：
描述了一种通过操纵薄空气层的压力和流动作用于声悬浮物体的装置，使得其旋转可以在没有机械接触的情况下被精确地控制。虚功分析有助于将多执行器控制问题简化为由可控参数控制的问题。驱动是通过能够产生超声驻波和行波的振动环来完成的，从而产生影响气体的薄中间层中的压力的声激励。一个独特的振动模式是必需的，以产生时间和空间的压力场的压缩空气层，从而引起声悬浮力和旋转扭矩。描述的是物理和设计开发阶段，导致一个优化的结构，所有随后的验证和动态校准实验。此外，通过精确控制闭环中驻波和行波的比率，可以影响由压缩空气层施加的剪切力，从而产生非接触式操纵机构。一个过驱动设置转换通过代数变换，成一个简化的单控制参数的问题。该变换将驻波比以及旋转扭矩与致动器的振幅和相位联系起来。这种安排导致一个有效的闭环方法，实验上实现了良好的性能，并表现出快速的角度定位。
英文摘要：
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in simplifying the multi-actuator control problem into a problem governed by a controllable parameter. Actuation is done with a vibrating ring capable of producing ultrasonic standing and traveling waves, creating the acoustic excitation that affects the pressure in a thin, intermediate layer of gas. A distinctive vibration pattern is required to generate the temporal and spatial pressure field of the squeezed air layer that gives rise to both acoustic levitation force and rotational torque. Described are the physical and design development stages leading to an optimized structure, all followed by verifying and dynamics-calibration experiments. Moreover, by precisely controlling the ratio of standing and traveling waves in a closed-loop, one can affect the shear forces applied by the squeezed air layer, thus creating a non-contacting manipulation mechanism. An over-actuated set-up is converted via an algebraic transformation, into a simplified single control-parameter problem. The transformation ties the standing waves ratio, and hence the rotational torque, to the amplitudes and phases of the actuators. This arrangement leads to an effective closed loop methodology that was implemented experimentally showing good performance and exhibiting rapid angular positioning.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
