Fixed-time adaptive event trigger control method for piezoelectric micro-positioning platform
A micro-positioning platform and event-triggered technology, which is applied in adaptive control, general control system, control/regulation system, etc., can solve problems that have not been seen yet, and achieve improved system convergence speed, improved system robustness, and improved performance Effect
Pending Publication Date: 2022-03-01
JILIN UNIV
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Problems solved by technology
[0006] Therefore, how to combine the fixed time control technology, event trigger mechanism and adaptive command filtering backstepping method to the piezoelectric micro-positioning platform system with complex input hysteresis to achieve high-precision tracking control of this system has not yet been seen. related technology
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[0235] Embodiment: Taking the piezoelectric micro-positioning platform as an example, use the fixed time adaptive event trigger control method designed by the present invention to figure 2 The trajectory tracking is performed on the experimental platform shown to verify the effectiveness of the constructed controller.
[0236] ①Experimental platform: use figure 2 The experimental platform shown is used to verify the effectiveness of the control method. The working principle of the experimental platform is as follows: image 3 shown. The hardware facilities of the experimental platform include a computer (to write the controller program and perform data processing and analysis), a data acquisition card (to realize the conversion of digital signal and analog signal), a precision positioning controller (to transmit the driving signal of the computer and the piezoelectric micro-positioning platform Displacement signal), piezoelectric micro-positioning platform (generating dis...
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The invention discloses a fixed-time adaptive event trigger control method for a piezoelectric micro-positioning platform, and aims to solve the problems of long adjustment time, limited control precision and high communication resource loss in the conventional control method. The method comprises the following steps: step 1, establishing a model for a piezoelectric micro-positioning platform; 2, simultaneously observing an unmeasurable state and unknown disturbance through a composite observer; 3, calculating an observation error, a tracking error, a virtual error and a compensation error, constructing a Lyapunov function V, and performing derivation to obtain a step 4, performing virtual control, command filtering, signal compensation and adaptive control by using a virtual control law, a command filter, a compensation signal and an adaptive law; and 5, a controller is triggered by using a fixed time adaptive event, fixed time convergence and event triggering are realized through the controller, and a high-precision tracking control effect on the output displacement of the piezoelectric micro-positioning platform is realized. The method is more suitable for practical application, and higher control precision can be obtained.
Description
technical field [0001] The invention belongs to the control field of intelligent materials and mechanisms thereof, and in particular relates to a fixed-time self-adaptive event trigger control method of a piezoelectric micro-positioning platform. Background technique [0002] Nanopositioning technology has broad development prospects in the field of engineering applications. Among them, the piezoelectric micro-positioning platform has been used as the core device in various micro-nano high-precision positioning systems due to its advantages of nanometer resolution, fast response, and high rigidity, and has been widely used in the fields of biological operations, ultra-precision lathes, and atomic force microscopes. widely used. However, as an actuator system driven by smart materials, the piezoelectric micro-positioning platform itself has hysteretic nonlinear characteristics produced by smart materials. Hysteretic nonlinearity has the characteristics of frequency dependen...
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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 周淼磊张晨于业伟方舟赵晨王萍刘云
Owner JILIN UNIV