基于复合控制的压电驱动器设计方法

针对压电叠堆迟滞带来的非线性效应严重制约系统控制精度提升的问题，该文提出了一种基于复合控制的压电驱动器控制方法，对系统非线性误差进行建模补偿，并基于数控芯片实现了嵌入式驱动设计。采用广义PI模型对被控压电促动器进行建模，利用指数函数作为密度函数，并基于粒子群算法对包络函数和密度函数进行参数寻优，最终得到压电促动器的前馈补偿逆模型，结合比例积分控制率实现系统的复合控制。同时采用数字信号处理结合现场可编程门阵列(DSP+FPGA)的数控架构，既保证了逆模型求解过程在DSP中实现的便捷性，又保证了采样及闭环控制在FPGA中实现的实时性及快速性。实验结果证明了所提设计方法的正确性及有效性。

Design Method of Piezoelectric Actuator Based on Compound Control

As the nonlinear effect caused by the hysteresis of piezoelectric stack seriously restricts the improvement of system control accuracy, a piezoelectric control method based on compound control is proposed in this paper. The nonlinear error of the system is modeled and compensated, and the embedded drive design is realized based on the numerical control (NC) chip. The generalized PI model is used to model the controlled piezoelectric actuator, the exponential function is used as the density function, and the parameters of the envelope function and the density function are optimized based on the particle swarm optimization algorithm. Finally, the feedforward compensation inverse model of the piezoelectric actuator is obtained, and the compound control of the system is realized by combining the proportional integral control rate. At the same time, the control architecture of digital signal processing + field programmable gate array (DSP+FPGA) is adopted, which not only ensures the convenience of solving the inverse model in DSP, but also ensures the real-time and rapidity of sampling and closed-loop control in FPGA. The experimental results show that the proposed design method is correct and effective.