压电陶瓷执行器迟滞补偿及复合控制

于志亮; 王岩; 曹开锐; 陈昊

doi:10.3788/OPE.20172508.2113

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压电陶瓷执行器迟滞补偿及复合控制

微纳技术与精密机械 | 更新时间：2020-07-07

- 压电陶瓷执行器迟滞补偿及复合控制
- Hysteresis compensation and composite control for Piezoelectric actuator
- 光学精密工程 2017年25卷第8期页码：2113-2120
- 作者机构：
  
  1.哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001
  2.哈尔滨工业大学空间光通信技术研究中心, 黑龙江哈尔滨 150001
  3.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
- 作者简介：
  
  于志亮(1987-), 男, 黑龙江同江人, 博士研究生, 2010年、2012年于哈尔滨工业大学分别获得学士、硕士学位, 主要从事空间光通信星间链路稳定性研究。E-mail:yuzl@hit.edu.cn YU Zhi-liang, E-mail:yuzl@hit.edu.cn
- 基金信息：
  
  国家科技重大专项(2009ZX02207);国家自然科学基金重点资助项目(51537002);国家青年自然科学基金资助项目(61503096)
- DOI：10.3788/OPE.20172508.2113
  中图分类号： TL361
- 收稿日期：2016-11-02，
  
  录用日期：2017-1-16，
  
  纸质出版日期：2017-08-25
- 稿件说明：
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于志亮, 王岩, 曹开锐, 等. 压电陶瓷执行器迟滞补偿及复合控制[J]. 光学精密工程, 2017,25(8):2113-2120.

Zhi-liang YU, Yan WANG, Kai-rui CAO, et al. Hysteresis compensation and composite control for Piezoelectric actuator[J]. Optics and precision engineering, 2017, 25(8): 2113-2120.
于志亮, 王岩, 曹开锐, 等. 压电陶瓷执行器迟滞补偿及复合控制[J]. 光学精密工程, 2017,25(8):2113-2120. DOI： 10.3788/OPE.20172508.2113.

Zhi-liang YU, Yan WANG, Kai-rui CAO, et al. Hysteresis compensation and composite control for Piezoelectric actuator[J]. Optics and precision engineering, 2017, 25(8): 2113-2120. DOI： 10.3788/OPE.20172508.2113.

摘要

快速倾斜镜是星间激光通信终端精瞄系统的核心部件，其驱动装置为压电陶瓷执行器，而压电陶瓷具有迟滞特性，其严重影响了快速倾斜镜的定位精度，进而对星间通信链路的稳定性造成不利影响。为解决这一问题，本文设计了一种改进Prandtl-Ishlinskii（P-I）模型对压电陶瓷执行器进行建模。在此基础上，提出了压电陶瓷执行器前馈线性化方法，以对迟滞特性进行前馈逆补偿。接着，提出了一种结合改进的P-I模型与增量式PID算法的复合控制算法，并在DSP中实现了该复合控制算法。最后，在试验平台上对该算法进行了验证。结果显示：当分别对系统输入10Hz和100Hz减幅正弦、等幅正弦曲线时，模型误差在0.59%以内，在输入同频100 Hz以下的减幅正弦曲线时，传统PID算法的最大误差为59.31

rad，而该复合算法的最大误差为14.22

rad。实验数据表明，本文复合控制方法的动态跟踪性能明显优于传统PID方法，改进Prandtl-Ishlinskii（P-I）模型可以精确描述压电陶瓷的迟滞特性。本文设计的复合控制方法满足实际应用对快速倾斜镜的要求。

Abstract

Fast Steering Mirror (FSM) is the core part in terminal fine aiming system of inter-satellite laser communication. As the driving device for FSM

Piezoelectric actuator's (PEA) hysteresis characteristics seriously affect FSM's position accuracy

and therefore have adverse influence on stability of inter-satellite communication link. In order to solve this problem

a modified Prandtl-Ishlinskii (MPI) model was proposed to describe PEA. On this basis

a feed-forward linearization approach for PEA was presented to achieve feed-forward inverse compensation for hysteresis. Meanwhile

a composite control method was developed by combining the MPI model and the incremental PID control algorithm

then the composite control algorithm was implemented in DSP later. At last

the performance of proposed algorithm was verified on test platform. The experimental results indicate that when system was input with damped sinusoidal and constant amplitude sinusoidal curves of 10 Hz and 100 Hz respectively

model error was within 0.59%. Under damped sinusoidal input curve of same frequency under 100Hz

the greatest error of traditional PID algorithm was 59.31

rad

and that of proposed composite algorithm was 14.22

rad. Experimental data shows that MPI model can accurately depict hysteresis characteristics of PEA and corresponding composite control method has obviously better dynamic tracking performance than traditional PID method

which can satisfy requirements of practical application to FSM.

关键词

Keywords

references

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