Composite Linearization Control Method and Realization Circuit for Hysteresis Characteristics of Piezoelectric Ceramic Actuators

A technology of piezoelectric ceramics and control methods, which is applied to parts and components of piezoelectric devices or electrostrictive devices, and can solve problems such as the inability to control precise positioning of piezoelectric ceramic actuators

CN102280572AActive Publication Date: 2011-12-14CHONGQING UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2011-12-14

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Abstract

The invention discloses a composite linear control method of a hysteresis characteristic of a piezoelectric ceramic actuator and a realization circuit thereof. The composite linear control method comprises a feedforward linear control process and a closed-loop linear control process, wherein in the feedforward linear control process, a built mathematical model of the piezoelectric ceramic actuator is utilized to construct a hysteresis component observer which observes the hysteresis components of the piezoelectric ceramic actuator under the action of control voltages, compensating voltages required by compensating the hysteresis components are calculated, and the compensating voltages and the control voltages are overlapped to obtain actual driving voltages which are acted on the piezoelectric ceramic actuator to generate displacement output; in the closed-loop linear control process, a displacement sensor is utilized to obtain feedforward linear errors and the closed-loop control is utilized to reduce the errors to be zero; and a composite linear controller comprises a control signal generator, an analog to digital converter, a composite linear controller, a digital to analog converter, a power amplifier, the displacement sensor and a signal conditioning circuit. According to the invention, the hysteresis nonlinearity relation between the output displacement of the piezoelectric ceramic actuator and the control voltages can be linearized, thus simplifying a control algorithm of the piezoelectric ceramic actuator greatly and improving the positioning accuracy of the piezoelectric ceramic actuator.
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Description

technical field

[0001] The invention belongs to the technical field of linearization control, in particular to a linearization control method for linearization of hysteresis characteristics of piezoelectric ceramic actuators. The invention also relates to a realization circuit of the method. Background technique

[0002] Piezoelectric ceramic actuators have the advantages of small size, high energy density, high positioning accuracy, high resolution, and fast frequency response, and have been widely used in precision positioning, micro-electromechanical systems, micro-nano manufacturing technology, and nano-bioengineering. . However, the hysteretic nonlinear characteristics of output displacement and control voltage of piezoelectric ceramic actuators bring great difficulties to the positioning control of piezoelectric ceramic actuators.

[0003] At present, there are three main categories of methods to realize the positioning control of piezoelectric ceramic actuators: ...

Examples

specific Embodiment 1

[0058] like figure 1 As shown, the hardware composition of the implementation circuit of the composite linearization control method in this embodiment includes a control signal generator (1), a first analog-to-digital converter (2), a composite linearization controller (3), a digital-to-analog converter (4), a power amplifier (5), a displacement sensor (7), a signal conditioning circuit (8) and a second analog-to-digital converter (9). Among them, the feed-forward linearization controller is realized by chips or systems with digital signal processing functions such as DSP chips, single-chip microcomputers, CPLD / FPGA chips, and ARM chips. The compound linearization controller (3) includes a feedforward linearization controller (3-1) and a closed-loop linearization controller (3-2), and the feedforward linearization controller (3-2) contains a hysteresis component observer ( 3-1-1), the first multiplier (3-1-2) and the first adder (3-1-3), which are used to complete the previou...

specific Embodiment 2

[0089] like Figure 5 As shown, the difference between this embodiment and the first embodiment is that the signal generated by the control signal generator (1) is a digital control voltage , can be directly sent to the compound linearization controller (3), without the need of the first analog-to-digital converter (2), and the output of the displacement sensor (7) is a digital displacement signal , can also be directly sent to the compound linearization controller (3) without going through the second analog-to-digital converter (8).

specific Embodiment 3

[0090] like Image 6 As shown, the difference between this embodiment and Embodiment 1 is that the hardware composition of the composite linearization controller includes: a control signal generator (1), a signal preprocessor (10), a first analog-to-digital converter (2 ), compound linearization controller (3), digital-to-analog converter (4), power amplifier (5), displacement sensor (7), signal conditioning circuit (8) and analog-to-digital converter 2 (9). The user can control any analog control voltage generated by the signal generator (1) through the signal pre-processor (10) The converted analog control signal is sent to the first analog-to-digital converter (2), and the first analog-to-digital converter (2) converts the analog control signal into a digital control signal and sends it to the composite linearization controller (3) to achieve external Composite linearization control of any input analog control voltage.