压电陶瓷作动器非对称迟滞建模与内模控制

王贞艳; 贾高欣

doi:10.3788/OPE.20182610.2484

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压电陶瓷作动器非对称迟滞建模与内模控制

微纳技术与精密机械 | 更新时间：2020-07-05

- 压电陶瓷作动器非对称迟滞建模与内模控制
- Asymmetric hysteresis modeling and internal model control of piezoceramic actuators
- 光学精密工程 2018年26卷第10期页码：2484-2492
- 作者机构：
  
  太原科技大学电子信息工程学院, 山西太原 030024
- 作者简介：
  
  [ "王贞艳(1981-), 女, 山西运城人, 副教授, 硕士研究生导师, 2002年于太原重型机械学院获得学士学位, 2005年于太原科技大学获得硕士学位, 2013年于北京航空航天大学获得博士学位, 主要从事非线性系统、先进控制、智能控制等方面的研究。E-mail:w9851@126.com" ]
  [ "贾高欣(1990-), 女, 河北石家庄人, 硕士研究生, 2014年于河北联合大学获得学士学位, 主要从事迟滞非线性系统的建模及控制方面的研究。E-mail:jiagaoxin2017@163.com" ]
- 基金信息：
  
  山西省青年科技研究基金资助项目(201701D221108);山西省研究生教育改革资助项目(2017JG77)
- DOI：10.3788/OPE.20182610.2484
  中图分类号： TP273;TN384
- 收稿日期：2017-11-09，
  
  录用日期：2018-1-7，
  
  纸质出版日期：2018-10-25
- 稿件说明：
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王贞艳, 贾高欣. 压电陶瓷作动器非对称迟滞建模与内模控制[J]. 光学精密工程, 2018,26(10):2484-2492.

Zhen-yan WANG, Gao-xin JIA. Asymmetric hysteresis modeling and internal model control of piezoceramic actuators[J]. Optics and precision engineering, 2018, 26(10): 2484-2492.
王贞艳, 贾高欣. 压电陶瓷作动器非对称迟滞建模与内模控制[J]. 光学精密工程, 2018,26(10):2484-2492. DOI： 10.3788/OPE.20182610.2484.

Zhen-yan WANG, Gao-xin JIA. Asymmetric hysteresis modeling and internal model control of piezoceramic actuators[J]. Optics and precision engineering, 2018, 26(10): 2484-2492. DOI： 10.3788/OPE.20182610.2484.

摘要

压电陶瓷作动器被广泛应用于精密定位和控制中，但其本身存在的非对称迟滞非线性特性，严重影响了系统的定位和控制精度。针对这一问题，提出了一种基于广义Bouc-Wen模型的非对称迟滞建模方法，并利用差分进化算法辨识模型参数；基于所建的广义Bouc-Wen模型构建了其具有解析形式的迟滞逆模型，并设计了内模控制方案实现对压电陶瓷作动器的精密跟踪控制；最后在压电陶瓷作动器实验平台，对所提出的建模和控制方案进行了实验验证。对压电陶瓷作动器的建模结果表明，系统建模误差均小于0.051 0，比经典Bouc-Wen模型的建模误差降低约21%~46%；对100 Hz内幅值为20

m的期望位移信号的控制实验结果表明，所提出的控制方法具有良好的实时跟踪性能和跟踪控制精度。对100 Hz期望信号的跟踪控制均方根误差为0.491 6

m，相对误差为0.040 2

m，可以很好地满足实际工程需要。

Abstract

Piezoceramic actuators are widely used in precision positioning and control; however

their asymmetric hysteretic characteristics severely affect the position and control accuracy of a system. To address this problem

a modeling method was proposed based on the generalized Bouc-Wen model

and the system parameters of the model were identified using the differential evolution method. Based on the generalized Bouc-Wen model

a hysteretic compensation control strategy with an analytical form was developed and an internal model control scheme to control the piezoceramic actuators was proposed. An experimental platform was developed to verify the effectiveness of the modeling and control strategy. The results of modeling a piezoceramic actuator reveal that all modeling errors are within 0.051 0. Compared with the conventional Bouc-Wen model

our proposed control model can reduce the modeling errors by approximately 21%-46%. Experimental results from the tracking of amplitudes of 20

m and frequency signals within 100 Hz indicate that the proposed control method offers effective real-time tracking performance and control accuracy. For 100 Hz

the root mean square error and relative error between the reference and output of the piezoceramic actuators were 0.491 6

m and 0.040 2

respectively

indicating that the proposed control model can satisfy the requirements of practical applications.

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references

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