摘要
该文对压电驱动器建模与控制技术进行了研究。通过二阶系统描述了压电驱动器的线性动态特性。基于Preisach迟滞模型,提出了全新的简化模型,避免了Preisach模型中复杂的双重积分运算。通过前馈与反馈控制技术相结合,为压电驱动器设计了一个综合控制器。在前馈控制器中,通过Preisach模型描述逆迟滞环,有效解决了Preisach模型不可逆的问题。通过比例、积分、微分(PID)反馈控制器,有效提高了系统鲁棒性,并有效补偿了前馈控制器中模型不精确带来的误差。最终,通过实验分别验证了模型的有效性及控制器的控制作用。
This paper focus on the modeling and control technology for piezoelectric actuators.The linear dynamics of piezoelectric actuators was described by a second order model.The complex double integral calculation was avoided by simplifying the classical Preisach model.An integrated controller was designed by integrating feedforward and feedback control technology.In feedforward controller,the inverse hysteresis loop was described by the simplified Preisach model.It provided an effective solution to the problem of irreversible Preisach model.The robustness of the system was effectively improved by the PID feedback controller.The error caused by the inaccuracy of the feedforward controller was also corrected by the feedback controller.The effectiveness of the model and the function of the controller were verified by experiments.
出处
《压电与声光》
CAS
CSCD
北大核心
2016年第3期363-366,共4页
Piezoelectrics & Acoustooptics
基金
国家自然科学基金面上资助项目(51375166)
关键词
压电驱动器
迟滞效应
非线性建模
前馈控制
反馈控制
piezoelectric actuators
hysteresis
nonlinear modeling
feedforward control
feedback control
作者简介
刘一帆（1988-），男，湖南永州人，博士生，主要从事高精度定位系统研究。
章文俊（1959-），男，教授，主要从事复杂与智能系统研究。
