Robust control of butterfly-shaped linear ultrasonic motor based on Takagi-Sugeno fuzzy systems

PAN Song; ZHANG Jian-hui; HUANG Wei-qing; SHI Yun-lai

doi:10.3788/OPE.20142210.2667

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Robust control of butterfly-shaped linear ultrasonic motor based on Takagi-Sugeno fuzzy systems

更新时间：2020-08-13

- Robust control of butterfly-shaped linear ultrasonic motor based on Takagi-Sugeno fuzzy systems
- Optics and Precision Engineering Vol. 22, Issue 10, Pages: 2667-2673(2014)
- 作者机构：
  
  南京航空航天大学机械结构力学及控制国家重点实验室,江苏南京,210016
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142210.2667
  CLC： TM359.4;TP273
- Received：23 January 2014，
  
  Revised：14 March 2014，
  
  Published：25 October 2014
- 稿件说明：
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潘松, 张建辉, 黄卫清等. 蝶形直线电机的模糊Takagi-Sugeno鲁棒控制[J]. 光学精密工程, 2014,22(10): 2667-2673

PAN Song, ZHANG Jian-hui, HUANG Wei-qing etc. Robust control of butterfly-shaped linear ultrasonic motor based on Takagi-Sugeno fuzzy systems[J]. Editorial Office of Optics and Precision Engineering, 2014,22(10): 2667-2673
潘松, 张建辉, 黄卫清等. 蝶形直线电机的模糊Takagi-Sugeno鲁棒控制[J]. 光学精密工程, 2014,22(10): 2667-2673 DOI： 10.3788/OPE.20142210.2667.

PAN Song, ZHANG Jian-hui, HUANG Wei-qing etc. Robust control of butterfly-shaped linear ultrasonic motor based on Takagi-Sugeno fuzzy systems[J]. Editorial Office of Optics and Precision Engineering, 2014,22(10): 2667-2673 DOI： 10.3788/OPE.20142210.2667.

摘要

为了克服现有双足蝶形直线超声电机驱动的一维平台定位中的摩擦驱动非线性

本文基于电机工作原理和扇形非线性特性建立了电机及平台的模糊Takagi-Sugeno(T-S)模型.基于该T-S模型

采用系统增广的方法设计了无静态误差伺服定位控制算法;设计中考虑了鲁棒

∞

性能

使得该非线性系统的模糊控制器具有较好干扰抑制性能和鲁棒性.采用嵌入式微控制器实现了所设计的控制算法

并进行了不同步进值的伺服定位控制实验.实验结果显示

在不同步进值下系统的超调量小于4%;在空载和带载荷的状态下对伺服定位控制实验数据的对比显示

系统最大超调量小于5%.与传统PID控制算法相比

本文提出的控制系统具有较高的定位精度

良好的运动平稳性和鲁棒性.

Abstract

To overcome friction drive nonlinear from the one-dimensional platform position driven by a butterfly-shaped linear ultrasonic motor

the fuzzy Takagi-Sugeno (T-S) models for the motor and the platform were established based on the working principle of a motor and the sector nonlinearity. Based on the T-S models

the servo positioning control algorithm without steady-state errors was designed by using augmented method. As the robust

∞

was considered

a disturbance rejection controller design for the T-S fuzzy models was presented. The designed control algorithm was realized on an embedded micro-controller. Experiments with different values of the stepper servo positioning were carried out. The experimental results show that the overshoot of the system in different step values is less than 4%. The experimental comparison of servo positioning control between the no-load and load conditions indicates that the system maximum overshoot is less than 5%. As compared with traditional PID control

the control system proposed in this paper gives higher positioning accuracy

good stability and an excellent robust.

关键词

Keywords

references

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