基于简化区间型 2 模糊系统的压电执行器的滞后建模与前馈控制。

Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy System.

机构信息

Robotics for Extreme Environments Lab, Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK.

Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China.

出版信息

Sensors (Basel). 2020 May 2;20(9):2587. doi: 10.3390/s20092587.

DOI:10.3390/s20092587

PMID:32370109

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7249067/

Abstract

The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically computed with the antecedent part of IT2 fuzzy rule specifically designed. In the experiments, gradient based optimization was used to identify the IT2 fuzzy hysteresis model. Results showed that the maximum error of model identification is 0.42% with only 3 developed IT2 fuzzy rules. Moreover, the model validation was conducted to demonstrate the generalization performance of the identified model. Based on the analytic inverse of the developed model, feedforward control experiment for tracking sinusoidal trajectory of 20 Hz was carried out. As a result, the hysteresis effect of the piezoelectric actuator was reduced with the maximum tracking error being 4.6%. Experimental results indicated an improved performance of the proposed IT2 fuzzy system for hysteresis modelling and feedforward control of the piezoelectric actuator.

摘要

压电致动器对于驱动微操作器是不可或缺的。本文提出了一种简化的区间型 2 型（IT2）模糊系统，用于对压电致动器的迟滞进行建模和前馈控制。通过专门设计的 IT2 模糊规则的前件，可以对 IT2 模糊系统的输出相对于建模参数的偏导数进行解析计算。在实验中，使用基于梯度的优化方法来识别 IT2 模糊迟滞模型。结果表明，仅用 3 个开发的 IT2 模糊规则，模型识别的最大误差为 0.42%。此外，还进行了模型验证，以证明所识别模型的泛化性能。基于所开发模型的解析逆，进行了跟踪 20 Hz 正弦轨迹的前馈控制实验。结果表明，压电致动器的迟滞效应得到了抑制，最大跟踪误差为 4.6%。实验结果表明，所提出的 IT2 模糊系统在压电致动器的迟滞建模和前馈控制方面具有更好的性能。