Yu Zhiliang, Wu Yue, Fang Zhiyi, Sun Hailin
Aerospace System Engineering Shanghai, Shanghai 201109, China.
School of Astronautics, Harbin Institute of Technology, Harbin 150001, China.
Heliyon. 2020 May 30;6(5):e03999. doi: 10.1016/j.heliyon.2020.e03999. eCollection 2020 May.
Piezoelectric actuator has the advantages of high rigidity, wide bandwidth, fast response and high resolution. Therefore, they are widely used in many micro and nano positioning applications. However, the hysteresis characteristic in the piezoelectric actuator (PEA) seriously affects its positioning accuracy and even causes instability. In this paper, a modified Prandtl-Ishlinskii (MPI) model, which can describe the rate asymmetric hysteresis of piezoelectric actuator, is studied. The hysteresis compensation is realized by using the rate dependent Prandtl-Iishlinskii model based on the improved Prandtl-Iishlinskii hysteresis model and the hysteresis characteristics of the driver measured in the laboratory under the frequency input of up to 100 Hz. In order to further reduce the error of feedforward compensation, a sliding mode controller is designed. The stability of the control system is proved by Lyapunov theory. The experimental results show that the linear error of the system is reduced from 10% to less than 1%, and the tracking error can also be reduced by 90%.
压电致动器具有高刚度、宽带宽、快速响应和高分辨率等优点。因此，它们被广泛应用于许多微纳米定位应用中。然而，压电致动器（PEA）中的滞后特性严重影响其定位精度，甚至会导致不稳定。本文研究了一种改进的普朗特-伊辛斯基（MPI）模型，该模型可以描述压电致动器的速率不对称滞后现象。基于改进的普朗特-伊辛斯基滞后模型和在高达100Hz频率输入下在实验室测量的驱动器滞后特性，通过使用速率相关的普朗特-伊辛斯基模型实现滞后补偿。为了进一步降低前馈补偿的误差，设计了一种滑模控制器。利用李雅普诺夫理论证明了控制系统的稳定性。实验结果表明，系统的线性误差从10%降低到小于1%，跟踪误差也可以降低90%。
