Method for compensating system in real time by using hysteresis inversion model

A technology of hysteresis model and inverse model, applied in the field of control, can solve the problem of not being able to model the hysteresis curve well, and achieve the effect of simple form and few parameters

CN101833284BActive Publication Date: 2011-07-27上海交睿机器人科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2011-07-27

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Abstract

The invention discloses a method for compensating a system in real time by using a hysteresis inversion model in the technical field of control, which comprises the following steps: acquiring input and output signals of a hysteresis system in real time, establishing a hysteresis model for one-to-one mapping between the input and output of the hysteresis system and determining parameters of the established hysteresis model; establishing the hysteresis inversion model of the system according to the input and output signals and the established hysteresis model, obtaining an analytical expressionof the hysteresis inversion model and determining the parameters of the hysteresis inversion model; and designing a hysteresis inversion model compensation controller according to the analytical expression of the established hysteresis inversion model and realizing the real-time compensation of the system by using the hysteresis inversion model so as to fulfill the aim of eliminating hysteresis nonlinearity and realize the linearity of the input and output signals. The method has the advantages of simple form, fewer required parameters and favorableness for the real-time design of the hysteresis compensation controller; and a practicable compensation scheme is provided for the high-speed and high-bandwidth positioning and tracking application of the hysteresis system comprising an intelligent material driver.
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Description

technical field

[0001] The invention relates to a method in the technical field of control, in particular to a method for realizing compensation of a system by a real-time hysteresis inverse model. Background technique

[0002] In the fields of micro-actuation and nanopositioning, piezoelectric actuators (piezoelectric actuators) are widely used due to their advantages of strong output force, high bandwidth and fast response. However, the piezoelectric material has inherent hysteresis characteristics, which will cause poor system accuracy, easy to generate oscillation, and even lead to instability of the entire system. Hysteresis nonlinearity is a multi-valued mapping phenomenon of input voltage and output displacement. For example, piezoelectric ceramic drivers will produce a full-scale hysteresis error of 10% to 15%. Moreover, the hysteresis error will become larger with the increase of the frequency and amplitude of the input signal, thus sharply increasing the positioni...

Examples

Embodiment Construction

[0037] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, taking the piezoelectric ceramic driver as an example, the detailed implementation and specific operation process are given below, But the scope of protection of the present invention is not limited to the following examples.

[0038] This embodiment is carried out on a self-designed nano-positioning platform driven by a single-degree-of-freedom flexible hinge. The positioning platform is excited by a closed-loop piezoelectric ceramic driver. The piezoelectric material has hysteresis nonlinear characteristics. Therefore, the piezoelectric material of this embodiment The ceramic drive system is a hysteresis system.

[0039] Build a hysteresis system experiment platform with dSPACE-DS1103 (real-time online simulation system) as the core, the main component...