Prediction control method of 'sticking-slipping' micro motion platform
A micro-movement platform, predictive control technology, applied in adaptive control, general control system, control/regulation system, etc. High-precision control is difficult and other problems, to achieve the effect of strong practical value, effective control, and small amount of online calculation
Active Publication Date: 2016-10-12
INST OF AUTOMATION CHINESE ACAD OF SCI
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However, there are two difficulties in the control of the "stick-slip" micro-motion platform: the hysteresis characteristics of the piezoelectric ceramic actuator and the "stick-slip" motion mode
[0003] First of all, the hysteresis characteristic of the piezoelectric ceramic actuator brings difficulties to the high-precision control of PASSMD, and the hysteresis nonlinear characteristic seriously affects the positioning accuracy of the piezoelectric ceramic actuator in practical applications.
[0004] Second, although the "stick-slip" micro-motion platform can achieve long-stroke motion with high precision, its "stick-slip" motion mode brings great challenges to the control (the piezoelectric ceramic actuator The controlled stroke is much smaller than the motion stroke of the stick-slip positioning system)
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[0018] The invention combines the basic content of the neural network modeling theory and the predictive control theory, and proposes a predictive control method of the "sticky-sliding" micro-motion platform based on the neural network model. Under the framework of this method, the predictive control law for the sub-step control stage has an analytical expression, and the final overall predictive control algorithm can realize the closed-loop high-precision positioning control of the "stick-slip" micro-motion platform. Compared with the model-free controller in the existing research work, the method proposed in the present invention can effectively model the hysteresis characteristics of piezoelectric ceramic actuators, thereby reducing the influence of hysteresis characteristics on "stick-slip" fretting Effect of platform positioning control. At the same time, the method proposed by the present invention is a closed-loop control method, and its tracking performance and ability...
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The present invention provides a prediction control method of a 'sticking-slipping' micro motion platform. The positioning control mode of the 'sticking-slipping' micro motion platform is divided into a sub-step control stage and a single-step control stage. The neural network model of a load piezoelectric ceramic actuator and the predictive control law of the sub-step control phase of the 'sticking-slipping' micro motion platform are obtained. The overall prediction controller of 'sticking-slipping' micro motion platform long stroke positioning control is obtained. According to the method, the calculation of the inverse model of the piezoelectric ceramic actuator can be avoided, thus the predictive control law can be completed before the real-time control, only an ambiguity resolution algorithm needs to be carried out in the real-time control, the online computation is very small, and the control of the piezoelectric ceramic actuator under a high frequency target displacement signal can be effectively completed, the practical value is strong, and the end-effector displacement of the 'sticking-slipping' micro motion platform can be effectively controlled.
Description
technical field [0001] The present invention relates to the technical field of micro-motion platform control, and more particularly to a predictive control method for a "stick-slip" micro-motion platform, which can be applied to the fields of nano-positioning, micro-assembly manufacturing, high-precision servo control, and the like. Background technique [0002] Although the piezoelectric ceramic actuator has high positioning accuracy, due to the characteristics of the piezoelectric ceramic material itself (shorter movement distance requires a large driving voltage), the micro-positioning stage driven by it usually does not have a large stroke . Therefore, in order to achieve long-stroke positioning motion with high positioning accuracy, piezoelectric-actuated stick-slip micro-motion devices (Piezoelectric-Actuated Stick-Slip Micro-motionDevices (PASSMD)) have attracted extensive attention. The "stick-slip" micro-motion platform driven by piezoelectric ceramics has a theore...
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IPC IPC(8): G05B13/02G05B13/04
CPCG05B13/027G05B13/042
Inventor 程龙侯增广谭民刘伟川
Owner INST OF AUTOMATION CHINESE ACAD OF SCI