超磁致伸缩驱动精密定位平台的动态递归神经网络前馈-PD反馈控制

喻曹丰; 王传礼; 魏本柱; 张辉

doi:10.3788/OPE.20152313.0417

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超磁致伸缩驱动精密定位平台的动态递归神经网络前馈-PD反馈控制

更新时间：2020-08-13

- 超磁致伸缩驱动精密定位平台的动态递归神经网络前馈-PD反馈控制
- DRNN feedforward-PD feedback control for precision positioning stage based on giant magnetostrictive actuator
- 光学精密工程 2015年23卷第10z期页码：417-424
- 作者机构：
  
  安徽理工大学机械工程学院, 安徽淮南 232001
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.51075001,No.51205002)();安徽省科技计划资助项目(No.1301022074)()
- DOI：10.3788/OPE.20152313.0417
  中图分类号： TP273
- 收稿日期：2015-04-05，
  
  修回日期：2015-05-12，
  
  纸质出版日期：2015-11-14
- 稿件说明：
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喻曹丰, 王传礼, 魏本柱等. 超磁致伸缩驱动精密定位平台的动态递归神经网络前馈-PD反馈控制[J]. 光学精密工程, 2015,23(10z): 417-424

YU Cao-feng, WANG Chuan-li, WEI Ben-zhu etc. DRNN feedforward-PD feedback control for precision positioning stage based on giant magnetostrictive actuator[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 417-424
喻曹丰, 王传礼, 魏本柱等. 超磁致伸缩驱动精密定位平台的动态递归神经网络前馈-PD反馈控制[J]. 光学精密工程, 2015,23(10z): 417-424 DOI： 10.3788/OPE.20152313.0417.

YU Cao-feng, WANG Chuan-li, WEI Ben-zhu etc. DRNN feedforward-PD feedback control for precision positioning stage based on giant magnetostrictive actuator[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 417-424 DOI： 10.3788/OPE.20152313.0417.

摘要

提出了采用Jiles-Atherton磁滞模型理论和动态递归神经网络(DRNN)前馈-PD反馈控制策略来提高超磁致伸缩驱动精密定位平台的定位精度。通过Jiles-Atherton磁滞模型建立了能准确描述其磁滞非线性的数学模型;采用DRNN学习获得其逆动态模型并用于磁滞非线性补偿;利用PD闭环反馈控制补偿DRNN的映射误差和抑制扰动

从而提高超磁致伸缩驱动精密定位平台的定位精度。研究结果表明:Jiles-Atherton磁滞模型能较好地描述超磁致伸缩驱动精密定位平台的磁滞非线性特征;DRNN前馈-PD反馈控制策略能有效消除系统的非线性特性

对提高超磁致伸缩驱动精密定位平台的定位精度具有实际意义。

Abstract

The Jiles-Atherton hysteresis model and the Dynamic Recurrent Neural Network(DRNN) feedforward-PD feedback control strategy were adopted to improve the positioning accuracy of precision positioning stage based on a Giant Magnetostrictive Actuator(GMA). An accurate hysteresis nonlinearity model of the precision positioning stage was established with the Jiles-Atherton model. A dynamics inverse model of the precision positioning stage was established with the DRNN learning method to compensate the hysteresis nonlinearity characteristic. The closed-loop PD feedback control was used to compensate the mapping error and to suppress the disturbance of DRNN. Using these control methods

the positioning accuracy of the precision positioning stage was improved. The research results show that the Jiles-Atherton hysteresis model can describe the hysteresis nonlinear characteristic of the precision positioning stage

and that DRNN feedforward-PD feedback control strategy can eliminate the nonlinear characteristics of the system

which has practical significance for improving positioning accuracy of the precision positioning stage based on the GMA.

关键词

Keywords

references

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