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Robust adaptive control method for piezoelectric ceramic driving component in variable load environment

A piezoelectric ceramic driven, robust and adaptive technology, applied in the field of precision machining and manufacturing, can solve problems such as difficulty in accurately determining the output displacement and changing the drive system model, and achieve the effects of a wide range of applications, high control accuracy, and scientific and reasonable methods.

Active Publication Date: 2019-07-23
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practical applications, since the drive system is often disturbed by the outside world, the model of the drive system changes. At this time, the model parameters in the control loop cannot be changed immediately, so the feedforward control will make it difficult to accurately determine the output displacement. , only suitable for use in a stable working environment

Method used

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  • Robust adaptive control method for piezoelectric ceramic driving component in variable load environment
  • Robust adaptive control method for piezoelectric ceramic driving component in variable load environment
  • Robust adaptive control method for piezoelectric ceramic driving component in variable load environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0050] This embodiment proposes a robust adaptive control method for piezoelectric ceramic drive components under variable load environments, including the following:

[0051] 1) Establish piezoelectric ceramic drive system

[0052] In order to realize the control design of piezoelectric ceramic driving parts under variable load environment, the driven part is set as a rigid load loaded in the vertical direction of piezoelectric ceramic driving parts, and its output displacement is measured by a laser displacement sensor. The load is rigid, and the set output displacement is consistent with the output displacement of the piezoelectric ceramic drive part.

[0053] 2) Mathematical model description of variable load piezoelectric ceramic drive components

[0054] The mathematical model of the piezoelectric ceramic driving part is:

[0055]

[0056] where x is the output displacement, a 0 ,a 1 ,b 0 is a constant parameter related to piezoelectric ceramic drive components. ...

Embodiment approach

[0088] A. Experimental device

[0089] To show the effectiveness of the proposed control scheme, for figure 1 For the piezoelectric ceramic drive system with load shown, a control system is designed and tested experimentally. The components of the control system are as follows:

[0090] Piezoelectric drive components: The piezo drive components used in the experiments can provide a peak output displacement of 90 μm with an input voltage range of 0–100 V.

[0091] Laser displacement sensor: In order to measure the output displacement of the drive system, the sensitivity of the laser displacement sensor used can reach 0.01 μm.

[0092] Voltage Amplifier: The output amplified voltage is used as the driving voltage of the piezoelectric ceramic driving part.

[0093] Data acquisition system: A 16-bit analog-to-digital and digital-to-analog conversion platform is used to obtain the precise displacement of the piezoelectric ceramic drive system, and at the same time output the driv...

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Abstract

The invention discloses a robust adaptive control method for a piezoelectric ceramic driving component in a variable load environment; the method comprises the following steps as follows: establishinga piezoelectric ceramic driving system, setting a driven component to be a rigid load loaded in a vertical direction of the piezoelectric ceramic driving component, and measuring the output displacement by a laser displacement sensor, wherein the output displacement of the rigid load is consistent with the output displacement of the piezoelectric ceramic driving component; performing mathematicalmodel description on the variable-load piezoelectric ceramic driving component; and designing a robust adaptive controller. The robust adaptive control method considers uncertainties in the system and environmental disturbances, based on the mathematical model of the piezoelectric ceramic driving system in a loaded environment, a measurable-output second-order system with a hysteresis characteristic is used, a specified performance function is set to control system errors so as to achieve real-time adjustment of the robust adaptive controller output, so that high precision tracking driving accuracy of the piezoelectric ceramic driving platform to the input signal is ensured.

Description

technical field [0001] The invention relates to the technical field of precision machining and manufacturing, in particular to a robust self-adaptive control method for piezoelectric ceramic drive components under variable load environments. Background technique [0002] Piezoelectric ceramic driving components have been successfully applied in many fields such as aerospace, military defense, and precision machinery due to their simple structure, high driving accuracy, strong anti-interference ability, and extremely fast response speed. It is widely used in micro-machines, and can be used as a driver for micro-robots, piezoelectric ultrasonic motors and micro-grippers, and has become one of the keys to performance improvement in high-precision equipment manufacturing. However, there are nonlinear characteristics such as hysteresis and creep in piezoelectric ceramic materials, which reduce the driving accuracy of piezoelectric ceramic driving components. Due to the multivalu...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 冯颖胡泽东杨辰光哈桑.阿巴斯张野晨
Owner SOUTH CHINA UNIV OF TECH
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