Buffeting-free sliding mode control method of piezoelectric driving micro-positioning platform

A micro-positioning platform, piezoelectric drive technology, applied in the field of control, can solve problems such as severe switching chattering, affecting control performance and engineering applications, and achieve the effects of fast response speed, improved order, and high control accuracy

Active Publication Date: 2020-11-03
JILIN UNIV
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Problems solved by technology

However, sliding mode control is a kind of switching control, which has serious switching chattering, which seriously affects its control performance and engineering application.

Method used

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  • Buffeting-free sliding mode control method of piezoelectric driving micro-positioning platform
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  • Buffeting-free sliding mode control method of piezoelectric driving micro-positioning platform

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Embodiment Construction

[0029] The invention provides a chatter-free sliding mode control method for a piezoelectric driven micro-positioning platform. The state relation equation is derived by establishing a Duhem-based piezoelectric driven micro-positioning platform system model with unknown disturbances, and a proportional-integral sliding mode surface is designed. And disturbance estimator, and based on the proportional-integral sliding mode surface and disturbance estimator, a kind of chatter-free equivalent sliding mode controller is designed to control the piezoelectric driven micro-positioning platform. The control method has strong robustness and control accuracy. Higher and faster response speed is conducive to engineering practice.

[0030] The design steps of the chatter-free sliding mode controller of the present invention:

[0031] Step Q1, consider the unknown disturbance parts such as internal unmodeled dynamics, parameter uncertainties and external disturbance variables, establish a piezo...

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Abstract

The invention discloses a buffeting-free sliding mode control method of a piezoelectric driving micro-positioning platform, and belongs to the field of precision motion control. The invention aims toprovide a buffeting-free sliding mode control method for a piezoelectric driving micro-positioning platform, which realizes platform precision positioning control by adopting a particle swarm-based constrained generalized prediction algorithm. The method comprises the steps: establishing a Duhem-based piezoelectric driving micro-positioning platform system model with unknown disturbance, and deriving a piezoelectric driving micro-positioning platform system state relation equation according to the system model; designing a buffeting-free equivalent sliding mode controller based on a disturbance estimator to obtain a control signal, and controlling a system state relation equation of the piezoelectric driving micro-positioning platform, thereby realizing high-precision positioning control of the piezoelectric driving micro-positioning platform. According to the method, the particle swarm optimization algorithm is used for replacing a rolling optimization process in generalized predictive control to process input constraints and input change rate constraints, precise positioning control of the piezoelectric ceramic micro-positioning platform is achieved, the method can be extended tosolve more optimization problems, and the problems in more fields are solved.

Description

Technical field [0001] The invention belongs to the field of control technology. Background technique [0002] Due to the development of high-precision processing technology, the piezoelectric driven micro-positioning platform has received more and more attention as the core component of high-precision equipment. However, due to the hysteresis and nonlinearity of the piezoelectric material itself, the control performance of the piezoelectric driven micro positioning platform is seriously damaged. In addition, the hysteresis nonlinearity also has the characteristics of multi-value mapping, rate correlation and memory, which in turn makes the piezoelectric driven micro positioning platform more difficult to control than traditional nonlinear systems. [0003] The current control of the piezoelectric driven micro-positioning platform mainly includes two categories: control methods based on inverse models and control methods without inverse models. The sliding mode control method is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 周淼磊潘炜徐瑞高巍
Owner JILIN UNIV
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