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压电驱动器迟滞特性的Preisach模型研究 总被引:15,自引:2,他引:13
压电驱动器的迟滞特性是影响其位移输出精度的主要因素。该文采用改进的Preisach模型对压电驱动器的迟滞特性进行建模,并进行了相应的实验研究。实验结果表明该模型可以很好地预测压电驱动器在经过一定的控制电压序列以后的位移输出值.能够有效地降低迟滞特性对压电驱动器位移输出精度的影响。 相似文献
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为减小压电陶瓷的迟滞非线性对系统跟踪精度的影响,该文采用经典的存在逆解析的PI迟滞模型对压电陶瓷的迟滞特性进行建模,将PI模型的逆模型用于压电陶瓷的前馈控制算法中,然后设计了神经元比例、积分、微分(PID)反馈控制算法,将前馈控制算法与神经元PID反馈控制算法结合得到了压电陶瓷的复合控制算法。将仅含前馈的控制算法和复合控制算法在压电陶瓷的控制器上执行,实验结果表明,仅含前馈的控制算法的跟踪误差为1.256 μm,而复合控制算法的跟踪误差仅为0.092 μm,该复合控制算法使跟踪精度提高了1.164 μm。 相似文献
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为减小压电陶瓷的迟滞非线性对系统跟踪精度的影响,该文采用经典的存在逆解析的PI迟滞模型对压电陶瓷的迟滞特性进行建模,将PI模型的逆模型用于压电陶瓷的前馈控制算法中,然后设计了神经元比例、积分、微分(PID)反馈控制算法,将前馈控制算法与神经元PID反馈控制算法结合得到了压电陶瓷的复合控制算法。将仅含前馈的控制算法和复合控制算法在压电陶瓷的控制器上执行,实验结果表明,仅含前馈的控制算法的跟踪误差为1.256μm,而复合控制算法的跟踪误差仅为0.092μm,该复合控制算法使跟踪精度提高了1.164μm。 相似文献
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为了降低压电陶瓷驱动器的迟滞非线性,提出了改进型的Maxwell slip模型并引入自适应控制,使压电驱动器在宽频带下有良好的迟滞补偿效果。在经典Maxwell slip模型中,输出力与输入位移的关系会出现迟滞现象,表现为平行四边形,与压电陶瓷驱动器的迟滞特性接近。由于每一单元滑块的最大静摩擦力与弹簧弹性系数成比例关系,若弹簧系数取定值时,每一个单元的最大静摩擦力在系统实时控制中是不变的,因此可以采用自适应控制算法对输出信号权值进行更新,从而更精确地补偿压电陶瓷驱动器。为了验证该模型,搭建了悬臂梁结构压电实验平台,运用该迟滞模型进行迟滞补偿控制,实验结果表明,对于Maxwell slip模型自适应控制,在0.1~20 Hz宽频带下的均方根误差(RMSE)和绝对平均误差(MAE)均有减小。其中,在0.1 Hz下无前馈补偿控制的RMSE为0.037 5 μm,而通过自适应控制可以将压电微定位平台的RMSE降低到0.012 4 μm以内。与经典模型相比,所提出的Maxwell slip模型自适应控制具有在宽频带内进行精密定位的优点。 相似文献
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针对压电微操作器的迟滞非线性补偿问题,采用PrandtlIshlinskii(PI)法建立了描述微操作器迟滞非线性特性的迟滞模型,并设计其前馈控制器。首先通过将系统逆补偿输出线性化,设计混合灵敏度H∞控制器,使系统具有较好的动静态特性。其次搭建了由多自由度微动平台和末端柔性操作臂构成的压电微操作器系统,并进行一系列测控实验。结果表明,基于PI逆模型的前馈控制可以较好地补偿压电微操作器的迟滞非线性,在最大输出位移125 μm的情况下,最大迟滞非线性率由21.7%降低至7.4%。同时混合灵敏度H∞控制能以较小的相对控制误差实现对不同类型和频率的参考轨迹跟踪,甚至微操作器动力学参数发生变化时,仍然具有较好的控制效果,证实了所提出控制器的可行性。 相似文献
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Hysteresis and significant nonlinearities in the behavior of Shape Memory Alloy (SMA) actuators encumber effective utilization of these actuator. Due to these effects, the position control of SMA actuators has been a great challenge in recent years. Literature review of the research conducted in this area shows that using the inverse of the phenomenological hysteresis models can compensate the hysteresis of these actuators effectively. But, inverting some of these models, such as Preisach model, is numerically a complex task. However, the generalized Prandtl–Ishlinskii model is analytically invertible, and therefore can be implemented conveniently as a feedforward controller for compensating hysteresis nonlinearities effects in SMA actuators. In this paper a feedforward–feedback controller is used to control the tip deflection of a large deflected flexible beam actuated by an SMA actuator wire. The feedforward part of the control system is based on the generalized Prandtl–Ishlinskii inverse model while a conventional proportional–integral feedback controller is added to the feedforward controller to increase the accuracy together with eliminating the steady state error in position control process. Experimental results show that the proposed controller performs well in terms of achieving small overshoot and undershoot for square wave tracking as well as small tracking errors for sinusoidal trajectory. It has also great capability for tracking hysteresis minor loops. 相似文献
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The main objective of this paper is to establish a precision contouring control of a biaxial piezoelectric-actuated stage. The positioning accuracy of the piezoelectric-actuated stage is limited due to the hysteretic nonlinearity of the piezoelectric actuators (PEA). To compensate this hysteresis problem, a feedforward controller based on an evolution algorithm is proposed. The dynamics of the hysteresis is formulated by the Bouc–Wen model and the evolutionary algorithms (EAs) are studied to identify the optimal parameters of the Bouc–Wen model. To verify the consistency, two micro-contouring tasks are implemented by the proposed feedforward controller with the feedback of linear optical scales in DSP based real-time control architecture. 相似文献
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Position control of Shape Memory Alloy (SMA) actuators has been a challenging topic during the last years due to their nonlinearities in the governing physical equations as well as their hysteresis behaviors. Using the inverse of phenomenological hysteresis model in order to compensate the input–output hysteresis behavior of these actuators shows the effectiveness of this approach. In this paper, in order to control the tip deflection of a large deformation flexible beam actuated by an SMA actuator wire, a feedforward–feedback controller is proposed. The feedforward part of the proposed control system, maps the beam deflection into SMA temperature, is based on the inverse of the generalized Prandtl–Ishlinskii model. An adaptive model reference temperature control system is cascaded to the inverse hysteresis model in order to estimate the SMA electrical current for tracking the reference signal. In addition, a closed-loop proportional–integral controller with position feedback is added to the feedforward controller to increase the accuracy as well as eliminate the steady state error in position control process. Experimental results indicate that the proposed controller has great accuracy in tracking some square wave signals. It is also experimentally shown that the suggested controller has precise tracking performance in presence of environmental disturbances. 相似文献
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《Mechatronics》2002,12(5):669-684
The hysteresis characteristic is one of the major setbacks in precise tracking position control of piezoelectric actuators. In this paper, a position control method for a piezoelectric actuator is presented. The controller is based on PID control method augmented with feedback linearization loop. The feedback linearization loop uses a plant model drawn from the Maxwell slip model. The control strategy is then further extended to include a repetitive control algorithm for tracking periodic inputs. Experiments were performed on a 2-axis linear positioner driven by piezoelectric actuators. The experimental results show that the tracking performance is noticeably improved by augmenting a PID controller with both feedback linearization loop and a repetitive controller. 相似文献
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Tracking control of a piezoceramic actuator with hysteresis compensation using inverse Preisach model 总被引:6,自引:0,他引:6
G. Song Jinqiang Zhao Xiaoqin Zhou J.A. De Abreu-Garcia 《Mechatronics, IEEE/ASME Transactions on》2005,10(2):198-209
This paper presents the classical Preisach hysteresis modeling and tracking control of a curved pre-stressed piezoceramic patch actuator system with severe hysteresis. The actuator is also flexible with very small inherent damping. It has potential applications in active antennas. A series of tests are conducted to study the hysteresis properties of the piezoceramic actuator system. The numerical expressions of the classical Preisach model for different input variations are presented. The classical Preisach model is applied to simulate the static hysteresis behavior of the system. Higher order hysteresis reversal curves predicted by the classical Preisach model are verified experimentally. The good agreement found between the measured and predicted curves showed that the classical Preisach model is an effective mean for modeling the hysteresis of the piezoceramic actuator system. Subsequently, the inverse classical Preisach model is established and applied to cancel the hysteresis the piezoceramic actuator system for the real-time microposition tracking control. In order to improve the control accuracy and to increase damping of the actuator system, a cascaded PD/lead-lag feedback controller is designed with consideration of the dynamics of the actuator. In the experiments, two cases are considered, control with major loop hysteresis compensation, and control with minor loop hysteresis compensation. Experimental results show that RMS tracking errors are reduced by 50% to 70% if the hysteresis compensation is added in the feedforward path in both cases. Therefore, hysteresis compensation with the feedback controller greatly improves the tracking control accuracy of the piezoceramic actuator. 相似文献
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以宏纤维复合材料(MFC)驱动柔性悬臂结构为研究对象,着重开展其动态形状控制理论研究。基于有限单元法、均匀化理论和载荷比拟方法,建立了压电驱动层合结构力 电耦合动力学方程,并结合模态降阶法得到其状态空间形式控制模型。同时,针对压电材料作动器迟滞蠕变非线性特征对控制精度影响严重的问题,开展了依据实验数据的迟滞蠕变建模及其前馈逆补偿控制方法的研究,并构建了面向压电驱动柔性结构动态形状控制的迟滞 蠕变前馈补偿与自抗扰反馈控制相结合的复合控制系统。结果表明,该复合控制法能够在保证系统稳定性的前提下有效提高系统动态形状控制精度。 相似文献
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The hysteretic behavior of a plant with a non-negative input, referred to as one-sided hysteresis, is characterized by an initial ascending curve and hysteresis loops. It is observed that the widely-used classical Preisach hysteresis model and its modifications cannot represent such one-sided hysteresis due to the limitation of the Preisach hysteresis operator. To address this issue, a novel hysteresis operator modified from the Preisach hysteresis operator is proposed in this study and on this basis, a rate-independent hysteresis model and a rate-dependent hysteresis model are developed with methods to estimate their parameters. An algorithm to invert the rate-independent hysteresis model and its application to tracking control are also presented. The models and control schemes developed were verified experimentally on a commercially-available piezoelectric actuator. The results obtained show that the models developed are promising to represent the one-sided hysteresis of the piezoelectric actuator and that the inverting algorithm of the rate-independent hysteresis model is effective as applied to the tracking control of piezoelectric actuators. 相似文献
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This paper develops a pneumatic power active lower-limb orthosis (PPALO) to be a controlled plant. Due to the use of pneumatic actuators, the PPALO inherently possesses non-smooth nonlinearities, such as asymmetric dynamics, friction, and dead zone. In order to eliminate the influence of these nonlinearities on the pneumatic actuators and the dynamic coupling terms included in the dynamics of the lower-limb orthosis, an inner-loop PI controller with a differential pressure feedback and an outer-loop filter-based iterative learning control (FILC) scheme which consists of an outer PD feedback controller as well as a feedforward filter are used. Finally, a trajectory tracking control experiment is conducted to validate that the proposed method can effectively control the system to track the desired trajectory and reduce the vibration caused by nonlinearities of the pneumatic actuators. 相似文献