摘要
为保证压电柔顺微操作器的精准性和稳定性,以压电纤维驱动的单自由度柔性微操作器为例,首先,通过在传统Prandtl-Ishlinskii(简称PI)迟滞模型上串联死区算子,建立改进PI迟滞模型并设计相应前馈控制器;其次,将系统模型分解为线性可逆分量和有界分量,并构建权重函数和增广模型设计H_(∞)反馈控制器,以保证系统的稳定性和精准性;最后,以压电纤维驱动的单自由度柔性微操作器为例,搭建实验测控系统。实验结果表明:在前馈控制下,压电柔顺微操作器的迟滞量从16.5%下降到4.4%,改进PI迟滞模型是可行的。当参考轨迹为阶跃和不同频率的正弦信号、甚至改变微操作器结构参数时,H_(∞)反馈控制均能有效跟踪给定参考信号且相对控制误差较小,验证了所设计H_(∞)反馈控制器的有效性。
Piezoelectric compliant micromanipulators are widely used in the field of micro-manipulation and micro-assembly technology, but their inherent hysteresis and nonlinearity affect the system control accuracy and stability. By connecting the dead zone operator in series with the traditional Prandtl-Ishlinskii(PI) hysteresis model, an improved PI hysteresis model is established, and the corresponding feedforward controller is designed. Then, the system model is decomposed into linear reversible components and bounded components, and weight functions and augmented models are constructed to design H_(∞)feedback controllers to ensure system stability and accuracy. Finally, a single-degree-of-freedom flexible micromanipulator driven by piezoelectric fibers is taken as an example to build an experimental measurement and control system. The experimental results show that under feedforward control, the hysteresis of the piezoelectric compliant micromanipulator drops from 16.5% to 4.4%, and the improved PI hysteresis model is feasible. When the reference trajectories are step and sinusoidal signals of different frequencies, or even changing structural parameters of the micromanipulator, the H_(∞)feedback control can effectively track the reference signal, and the relative control error is small, which verifies the effectiveness of the designed H_(∞)feedback controller.
作者
李存尧
杨依领
吴高华
魏燕定
LI Cunyao;YANG Yiling;WU Gaohua;WEI Yanding(College of Mechanical Engineering and Mechanics,Ningbo University,Ningbo,315211,China;Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province,School of Mechanical Engineering,Zhejiang University,Hangzhou,310027,China)
出处
《振动．测试与诊断》
EI
CSCD
北大核心
2023年第1期144-151,203,共9页
Journal of Vibration,Measurement & Diagnosis
基金
国家自然科学基金资助项目(51805276,51975517)
浙江省自然科学基金资助项目(LQ18E050003)
宁波市自然科学基金资助项目(2018A610152)。
作者简介
第一作者:李存尧,男,1996年12月生,硕士生。主要研究方向为精密控制技术。E-mail:1158936895@qq.com;通信作者:杨依领,男,1987年10月生,博士、副教授。主要研究方向为微纳驱动及精密控制。E-mail:yangyiling@nbu.edu.cn。
