Real-time compensation control of hysteresis based on Prandtl&ndash;Ishlinskii operator for GMA

YANG Bin-tang; ZHAO Yin; PENG ZHi-bin; MENG Guang

doi:10.3788/OPE.20132101.0124

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Real-time compensation control of hysteresis based on Prandtl–Ishlinskii operator for GMA

Article | 更新时间：2020-08-12

- Real-time compensation control of hysteresis based on Prandtl–Ishlinskii operator for GMA
- Optics and Precision Engineering Vol. 21, Issue 1, Pages: 124-130(2013)
- 作者机构：
  
  上海交通大学机械系统与振动国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20132101.0124
  CLC： TM274;TP273
- Received：02 August 2012，
  
  Revised：12 September 2012，
  
  Published Online：24 January 2013，
  
  Published：15 January 2013
- 稿件说明：
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杨斌堂赵寅彭志科孟光. 基于Prandtl–Ishlinskii模型的超磁致伸缩驱动器实时磁滞补偿控制研究[J]. 光学精密工程, 2013,21(1): 124-130

YANG Bin-tang ZHAO Yin PENG ZHi-bin MENG Guang. Real-time compensation control of hysteresis based on Prandtl–Ishlinskii operator for GMA[J]. Editorial Office of Optics and Precision Engineering, 2013,21(1): 124-130
杨斌堂赵寅彭志科孟光. 基于Prandtl–Ishlinskii模型的超磁致伸缩驱动器实时磁滞补偿控制研究[J]. 光学精密工程, 2013,21(1): 124-130 DOI： 10.3788/OPE.20132101.0124.

YANG Bin-tang ZHAO Yin PENG ZHi-bin MENG Guang. Real-time compensation control of hysteresis based on Prandtl–Ishlinskii operator for GMA[J]. Editorial Office of Optics and Precision Engineering, 2013,21(1): 124-130 DOI： 10.3788/OPE.20132101.0124.

摘要

针对超磁致伸缩驱动器(GMA)存在复杂的磁滞非线性易降低系统性能

导致系统不稳定的问题

建立了可以精确描述磁滞现象的模型并提出了合适的驱动控制方法。首先

基于Prandtl-Ishlinskii(PI)模型对GMA磁滞建模，并采用最小均方法(LMS)进行模型参数辨识，模型预测误差为0.037 9 m。接着，通过对PI模型解析求逆进行实时补偿控制，从而有效减小磁滞误差，补偿控制误差为0.309 m。实验结果证明，PI模型可以精确描述GMA磁滞现象，且具有计算简单，磁滞跟踪能力强的优点。基于该模型的实时磁滞补偿控制方法可以有效减小磁滞误差，提高GMA实时驱动定位控制精度，是实现GMA精密驱动控制的一种有效方法。

Abstract

Giant Magnetostrictive Actuator(GMA) has complex hysteretic nonlinearities

which can degrade system performance and cause system instability. To solve the problem

this paper establishes a model to accurately describe hysteretic phenomenon and propose a proper method to improve real-time control accuracy. Firstly

Prandtl-Ishlinskii(PI) operator is proposed in this paper to model the hysteresis of GMA and Least Mean Square(LMS) algorithm is used identify the parameter of this model

by which the prediction error reaches up to 0.037 9 m. Then

an inverse model is established based on the PI model for real-time compensation control of the hysteresis

and the inverse control error reaches up to 0.309 m. The experimental results demonstrate that PI operator can accurately characterize the GMA hysteresis

and the model has advantages of simple calculation and strong hysteretic tracking ability. The real-time compensation control of hysteresis can effectively reduce hysteretic errors and improve real-time control accuracy. It is a effective way to achieve precision driving control of GMAs.

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references

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Real-time compensation control of hysteresis based on Prandtl–Ishlinskii operator for GMA

DOI：10.3788/OPE.20132101.0124

摘要

Abstract

关键词

Keywords

references