基于自抗扰重复控制的压电驱动器高精度跟踪控制

针对压电驱动器的高精度控制问题,提出一种自抗扰重复控制设计方法。首先,给出压电驱动系统的动力学模型;然后,在线性自抗扰控制(LADRC)中引入输出反馈积分控制器和一类插入式重复控制器,提出一种具有阶跃、斜坡和周期信号跟踪/抑制能力的自抗扰重复控制策略。进一步,结合小增益定理,分析闭环系统的稳定性及控制系统的设计方法。最后,将所提方法应用于一类压电驱动系统,实验结果表明该方法与LADRC相比,能显著提升控制效果,且高精度跟踪/抑制多种外部信号。

High precision tracking control for the piezoelectric actuator based on active disturbance rejection repetitive control

To enhance precision control of piezoelectric actuator, this paper proposes an active disturbance rejection repetitive control (ADRRC) method. Firstly, the dynamic model of piezoelectric drive system is formulated. Then, an output feedback integral controller and a plug in repetitive controller are merged into the linear active disturbance rejection control (LADRC). One kind of ADRRC strategy is proposed, which has capabilities of step, ramp and periodic signal tracking/suppression. Furthermore, the stability of the closed loop system and the design method of the control system are analyzed by using the small gain theorem. Finally, the proposed method is applied to the piezoelectric actuator system. Experimental results show that the proposed method can achieve better control performance than LADRC method. In addition, the method can track and reject many kinds of external signals with high precision.