基于非对称速率依赖模型的压电致动器滞后逆补偿

Inverse compensation for hysteresis in piezoelectric actuator using an asymmetric rate-dependent model.

作者信息

Li Wei, Chen Xuedong, Li Zilong

机构信息

State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China.

出版信息

Rev Sci Instrum. 2013 Nov;84(11):115003. doi: 10.1063/1.4833399.

DOI:10.1063/1.4833399

PMID:24289430

Abstract

This paper presents a modified Bouc-Wen model for asymmetric rate-dependent hysteresis in piezoelectric actuator. On this basis, we develop a new digital inverse controller with a simple structure cascaded in the feedforward path for piezoelectric actuator. In order to eliminate modeling errors and parameter uncertainties, the developed inverse controller is combined with a feedback loop to establish a hybrid control scheme. In our experiments, the proposed model together with the developed hybrid control scheme has shown significantly reduced tracking errors caused by asymmetric rate-dependent hysteresis in piezoelectric actuator.

摘要

本文提出了一种用于压电致动器中不对称速率依赖滞后的改进型布赫-温模型。在此基础上，我们为压电致动器开发了一种结构简单的新型数字逆控制器，该控制器级联在前馈路径中。为了消除建模误差和参数不确定性，将所开发的逆控制器与反馈回路相结合，建立了一种混合控制方案。在我们的实验中，所提出的模型与所开发的混合控制方案一起，显著降低了压电致动器中不对称速率依赖滞后引起的跟踪误差。