Intelligent compensation method and control system for nonlinear characteristics of linear voice coil motor

Abstract

The invention relates to an intelligent compensation method and a control system for a linear voice coil motor. The method is based on a mixed inverse hysteresis model of the voice coil motor, the mixed inverse hysteresis model of the voice coil motor is formed by connecting an inverse hysteresis model of the voice coil motor and a neural network model in series, the input is set displacement r(t), and the output is voltage uu1(t). A friction model and a second neural network model are connected in series to form a mixed friction model of the voice coil motor, the input is displacement y(t), and the output is voltage uu2(t). The mixed inverse hysteresis model is connected with the voice coil motor in series by a feedforward mode, the mixed friction model is connected with the voice coil motor by a feedback mode, the neural networks of the two models regulate the parameters at real time, and feedback control can be carried out according to a weakly nonlinear object after intelligent compensation is carried out on the non-smooth hysteresis characteristic and the non-smooth friction characteristic of the voice coil motor. In the system, a displacement sensor is connected with a signal processor, a program memory stores a mixed inverse hysteresis model compensation program, a mixed friction model compensation program and a weakly nonlinear object control algorithm program, and a CPU regulates driving voltage to control the forward and reverse movement of the voice coil motor.

Description

(1) Technical field [0001] The invention relates to the technical field of controlling the nonlinear characteristics of a linear voice coil motor, in particular to an intelligent compensation method and a control system for the nonlinear characteristics of a linear voice coil motor with non-smooth complex hysteresis nonlinear characteristics and non-smooth friction characteristics. (2) Background technology [0002] The linear voice coil motor with long stroke and micro / nano-level positioning accuracy (hereinafter referred to as voice coil motor) belongs to the "zero transmission" direct drive motor. Compared with other motors and as a displacement positioning drive device, it has obvious advantages. With the characteristics of high resolution, high response, high acceleration, small size, and good force characteristics, it is widely used in computer hard disks, precision machining and cutting machine tools, mobile digital cameras, aerial robots, semiconductor packaging, and ...

AI Technical Summary

Problems solved by technology

[0009] The non-increasing function change and non-smooth complex hysteresis characteristics of voice coil motors are completely different from the hysteresis characteristics of increasing function changes exhibited by piezoelectric ceramics, diffused silicon pressure sensors and polymer humidity sensors. The hysteresis model cannot model the special complex hysteresis characteristics of the voice coil motor, so it is difficult to compensate the hysteresis characteristics of the voice coil motor

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