Micro-driver hysteresis modeling and feedforward control method based on API model
An API model and micro-driver technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of poor application of micro-driver feed-forward control, increased controller complexity, and the existence of cumulative errors, etc. problem, to achieve the effect of simple and effective control method, improved model accuracy, and reduced calculation amount
Active Publication Date: 2020-01-14
HANGZHOU DIANZI UNIV
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Problems solved by technology
Although the analytical inverse model of the PI model can be obtained mathematically, the solution process is cumbersome and there are cumulative errors, which increases the complexity of the controller
In addition, part of the improved PI model does not have an analytical inverse model, so it cannot be well applied to the feedforward control of micro-drives
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[0035] The present invention will be further described below in conjunction with the drawings.
[0036] Such as figure 1 As shown, the traditional Play operator (C-Play operator for short) is:
[0037] y(t)=p·max{u(t)-r,min{u(t)+r,y(t-T)}}
[0038] Among them, y(t) is the output signal of the operator at time t, u(t) is the input signal of the operator at time t, p is the weight coefficient, r is the threshold, and T is the input time interval between adjacent time points, max is the maximum value and min is the minimum value.
[0039] The traditional PI model (CPI model for short) is:
[0040]
[0041] Among them, the initial output signal y of the C-Play operator 0 =0, that is, the initial output signal of the CPI model Y(0)=0, Y(t) is the output signal of the CPI model at time t, p 0 Is the linear coefficient, p i Is the weight coefficient of the i-th operator, r i Is the threshold of the i-th operator, n is the total number of operators, y i (t-T) is the output signal of the i-th o...
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The invention discloses a micro-driver hysteresis modeling and feedforward control method based on an API model. A traditional PI model is large in error when describing an asymmetric hysteresis curve. By using the method, the CPI model is improved into an API model, an API inverse model based on an asymmetric Stop operator is obtained according to a complementary relation between the asymmetric Play operator and the asymmetric Stop operator, and a micro-driver feedforward controller is designed. Expected output displacement of the micro-driver at each moment is input into a feedforward controller, output of the feedforward controller is taken as an input voltage of the micro-driver, and a voltage is acted on the micro-driver so as to obtain actual output displacement corresponding to eachmoment of the micro-driver. The API model essentially solves a problem that the PI model can only describe a symmetric hysteresis curve, model precision is remarkably improved, the micro-driver feedforward controller is simple and effective, and complexity of the controller is reduced.
Description
Technical field [0001] The invention belongs to the technical field of micro-nano drives, and in particular relates to a micro-drive hysteresis modeling and feedforward control method based on an API model. Background technique [0002] With the in-depth development of science and technology toward the microscopic field, the role of micro-nano operation technology in scientific research, industrial production and other fields has become increasingly prominent. Precision positioning technology is one of the key technologies of micro-nano operation, and its accuracy directly affects the performance of micro-nano operation equipment. [0003] The micro-actuators suitable for nano-level precision motion mainly include piezoelectric ceramic actuators, giant magnetostrictive actuators and shape memory alloy actuators. However, most micro-drives have hysteresis characteristics, which affect their positioning accuracy. Therefore, the research on its modeling and compensation control tech...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王文王瑞金王健陈占锋桑志谦郭宗福居冰峰
Owner HANGZHOU DIANZI UNIV