Piezoelectric actuator compound control method based on improved Prandl-Ishlinskii model

Abstract

The invention belongs to the technical field of piezoelectric actuator control, and particularly discloses a piezoelectric actuator composite control method based on an improved Prantl-Ishlinskii model, and the method comprises the steps: 1, describing the hysteresis nonlinear characteristics of a piezoelectric actuator by employing an improved MRAPI hysteresis inverse model based on Prantl-Ishlinskii; 2, obtaining an MRAPI hysteresis inverse model in a direct inverse model modeling mode; 3, identifying parameters of the MRAPI hysteresis inverse model; and 4, combining the identified MRAPI hysteresis inverse model and a PID feedback controller to control the piezoelectric actuator. The method has the advantages that the core structure of the Prandl-Ishlinskii model is reserved, parameters to be identified are few, the identification process is simple, the dynamic hysteresis process of the piezoelectric actuator is accurately described, the solving process of the inverse model is simplified, hysteresis nonlinearity of the system is compensated, modeling errors and external interference are reduced, the robust stability of the system is improved, and high-precision trajectory tracking control of the piezoelectric actuator is realized.

Description

technical field [0001] The invention relates to the technical field of piezoelectric driver control, in particular to a composite control method for piezoelectric drivers based on an improved Prandtl-Ishlinskii model. Background technique [0002] With the continuous development and progress of micro-nano technology, the application requirements of high-precision systems are also increasing, and at the same time, higher requirements are put forward for motion accuracy and resolution. Compared with traditional rigid mechanisms, flexible mechanisms have been widely used in high-precision motion systems such as micro-nano technology due to their advantages such as low cost, small size, no friction, no gap, high resolution, and easy production. . Because traditional AC / DC motors are difficult to meet the requirements of high-precision driving force, piezoelectric actuators, namely PEA, have the advantages of small size, high precision, large driving force, fast response speed, ...

AI Technical Summary

Problems solved by technology

The main improvement method of the traditional model in the prior art is to consider the influence of the frequency of the input signal, construct a frequency-dependent improved model, and realize the dynamic modeling of the hysteresis characteristic. However, the improved method that only considers the frequency of the input signal without considering the influence of the amplitude It is not comprehensive, the change of the input signal frequency will lead to the change of the hysteresis characteristic, and then lead to the change of the tracking error, and the change of the input signal amplitude will directly affect the tracking error of the system, it can be seen that considering the input signal amplitude The influence of the value is the key step to achieve high-precision trajectory tracking control. In addition, most of the model-based modeling methods use open-loop control, and the control accuracy will be severely limited by the modeling accuracy. At the same time, the influence of external disturbances cannot be suppressed. The system less stable

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