Nonlinear inverse control method used for dynamic hysteresis compensation of piezoelectric actuator

Abstract

The invention discloses a nonlinear inverse control method used for dynamic hysteresis compensation of a piezoelectric actuator. Nonlinear inverse control of the piezoelectric actuator is performed based on a Prandtl-Ishlinskii model by aiming at the problem that most models cannot perform accurate inverse analysis for the modeling difficulty of a dynamic hysteresis system; a dynamic critical value related to the input frequency is established to obtain a rate-dependent play operator, and the rate-dependent play operator is combined with a density function so as to obtain a rate-dependent Prandtl-Ishlinskii model; a hysteresis main ring is measured under different input frequencies so as to determine model parameters; the inverse parameters of the model are inversely solved by solving an initial load curve so as to obtain a rate-dependent Prandtl-Ishlinskii inverse model; and the Prandtl-Ishlinskii model and the inverse model thereof are used for an open-loop control system so as to compensate the hysteresis nonlinear property of the piezoelectric actuator. The experiment proves that the rate-dependent Prandtl-Ishlinskii model can accurately describe the hysteresis nonlinearity of the piezoelectric actuator and the rate-dependent Prandtl-Ishlinskii inverse model enhances the positioning and control precision of a hysteresis nonlinear system.

Description

technical field [0001] The invention relates to a nonlinear inverse control method for dynamic hysteresis compensation of piezoelectric drivers. Background technique [0002] Piezoelectric actuators are micro-displacement drive elements, which have the advantages of high displacement resolution, fast response, no heat, no noise, high stiffness, and miniaturization, so they are widely used in precision positioning technology. However, its hysteresis nonlinearity affects the improvement of its precise positioning accuracy, which is considered to be the key factor affecting the positioning accuracy of piezoelectric actuators. Aiming at the hysteretic nonlinear characteristics of piezoelectric actuators, the current research mainly focuses on the modeling of hysteresis characteristics and the design of the controller. The commonly used hysteresis models mainly include: Preisach model, Prandtl-Ishlinskii model, Bouc-Wen model, etc. Since the Preisach model and the Bouc-Wen mode...

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Problems solved by technology

However, its hysteresis nonlinearity affects the improvement of its precise positioning accuracy, which is considered to be a key factor affecting the positioning accuracy of piezoelectric actuators.

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