Robust adaptive control method for piezoelectric ceramic drive components under variable load environment

A piezo-ceramic driven, robust and self-adaptive technology, applied in the field of precision machining and manufacturing, can solve the problems of drive system model change, difficult to accurately determine the output displacement, etc., to achieve a wide range of applications, scientific and reasonable methods, and conducive to real-time control Effect

Active Publication Date: 2021-09-21
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 drive components under variable load environment
  • Robust adaptive control method for piezoelectric ceramic drive components under variable load environment
  • Robust adaptive control method for piezoelectric ceramic drive components under variable load environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0047]This embodiment proposes a robust adaptive control method for piezoelectric ceramic drive components under variable load environments, including the following:

[0048] 1) Establish piezoelectric ceramic drive system

[0049] In order to realize the control design of piezoelectric ceramic driving parts in 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 laser displacement sensor. The load is rigid, and the set output displacement is consistent with the output displacement of the piezoelectric ceramic drive part.

[0050] 2) Mathematical model description of variable load piezoelectric ceramic drive components

[0051] The mathematical model of the piezoelectric ceramic driving part is:

[0052]

[0053] where x is the output displacement, a 0 ,a 1 ,b 0 is a constant parameter related to piezoelectric ceramic drive components.

[00...

Embodiment approach

[0083] A. Experimental device

[0084] To show the effectiveness of the proposed control scheme, for figure 1 For the piezoceramic drive system with load shown, a control system is designed and tested experimentally. The components of the control system are as follows:

[0085] Piezo-ceramic drive components: The piezo-ceramic drive components used in the experiments can provide a peak output displacement of 90 μm with an input voltage range of 0–100 V.

[0086] 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.

[0087] Voltage Amplifier: The output amplified voltage is used as the driving voltage of the piezoelectric ceramic driving part.

[0088] 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 self-adaptive control method for a variable load environment of a piezoelectric ceramic drive part, the steps are as follows: establish a piezoelectric ceramic drive system, and set the driven part as one loaded in the vertical direction of the piezoelectric ceramic drive part The output displacement of the rigid load is measured by the laser displacement sensor, and the output displacement set by the rigid load is consistent with the output displacement of the piezoelectric ceramic driving part; the mathematical model description of the variable load piezoelectric ceramic driving part is carried out; the design is robust adaptive controller. The robust adaptive control method is to consider the uncertain items in the system and environmental disturbances, based on the mathematical model of the piezoelectric ceramic drive system under load, using the second-order system with hysteresis characteristics and measurable output, by setting A specified performance function is used to control the system error to realize the real-time adjustment of the output of the robust adaptive controller, so as to ensure the high-precision tracking and driving accuracy of the piezoceramic driving platform to the input signal.

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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Patent Type & Authority Patents(China)
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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