基于Duhem模型和逆模型的压电执行器精密定位及控制
PDF下载 (356)孙 涛,李国平*,孙浩益.基于Duhem模型和逆模型的压电执行器精密定位及控制[J].宁波大学学报(理工版),2017,30(1):13-17.DOI:
SUN Tao,LI Guo-ping*,SUN Hao-yi.ccurate positioning and control of piezoelectric actuator based on Duhem model and inverse model[J].Journal of Ningbo University(Natural Science & Engineering Edition),2017,30(1):13-17.DOI:
| Title: | ccurate positioning and control of piezoelectric actuator based on Duhem model and inverse model |
| 作者: | 孙 涛, 李国平*, 孙浩益 |
| Author(s): | SUN Tao, LI Guo-ping*, SUN Hao-yi |
| 关键词: | Duhem模型; Duhem逆模型; 样条曲线; 神经网络; 复合控制 |
| Keywords: | Duhem model; Duhem inverse model; spline curve; neural networks; composite control |
| 分类号: | TM282 |
| 文献标识码: | A |
| 摘要: | 为提高压电执行器的定位精度, 研究了压电执行器的Duhem模型及逆模型, 并对传统的Duhem模型进行改进, 将原有的模型分为上下2个半环, 分别进行建模. 然后采用样条曲线插值和神经网络对Duhem模型参数进行辨识, 利用辨识结果建立压电执行器的Duhem模型及逆模型, 并利用PI逆模型作为PID反馈控制的前馈环节进行复合控制, 提高压电执行器的定位精度. 结果表明: 该模型在变幅三角波电压下的输出绝对平均误差为0.0810μm, 复合控制下的输出绝对平均误差为0.0539μm, 能有效地提高压电执行器的定位精度. |
| Abstract: | In order to improve the positioning accuracy of the piezoelectric actuators, the Duhem model and the inverse model of piezoelectric actuators are investigated and improved. The original model is divided into two half-rings, which are modeled individually. By using the spline interpolation and neural network to identify the Duhem model parameters, the Duhem model and inverse model of piezoelectric actuators are established. Furthermore, by using PI inverse model as a feed forward segment of PID feed-back control, a composite control is implemented to improve the positioning accuracy of piezoelectric actuators. Experimental results indicate that the average error is 0.0810μm and the absolute error is 0.0539μm under the composite control, hence it effectively improves the positioning accuracy of the piezoelectric actuator |
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| 备注/Memo: | 收稿日期: 2015?03?25. 宁波大学学报（理工版）网址: http://journallg.nbu.edu.cn/ 基金项目: 浙江省科技厅公益技术项目（2013C31017）. 第一作者: 孙涛（1989－）, 男, 安徽望江人, 在读硕士研究生, 主要研究方向: 精密加工与测控. E-mail: suntao_nbu@126.com *通信作者: 李国平（1967－）, 男, 湖北黄冈人, 博士/教授, 主要研究方向: 精密加工与机电测控、振动控制技术. E-mail: liguoping@nbu.edu.cn 宁波大学学报（理工版）网址：http://journallg.nbu.edu.cn/ |
