A compound compensation control method of a piezoelectric stack active control device

Abstract

The application discloses a composite compensation control method of a piezoelectric stack active control device, and relates to the technical field of pipeline vibration absorption control.The method determines an expected displacement point according to an expected vibration track of a piezoelectric ceramic driver in the piezoelectric stack active control device, obtains a hysteresis voltage compensated by hysteresis through a pre-fitted feedforward control model based on the expected displacement point, obtains a deviation voltage according to a displacement deviation between the expected displacement point and an actual displacement through a PID controller, adds the hysteresis voltage and the deviation voltage to obtain an input voltage, and uses the input voltage to control the piezoelectric ceramic driver in the piezoelectric stack active control device, so that the actual displacement of the piezoelectric ceramic driver tracks the expected displacement point.The composite compensation control method adopts a compensation control scheme combining feedforward and feedback, combines the advantages of the two and makes up for the defects of the two, so that higher control precision is achieved, and the control effect of the piezoelectric stack active control device is effectively improved.

Description

Technical Field

[0001] This application relates to the field of pipeline vibration absorption control technology, and in particular to a composite compensation control method for a piezoelectric stack active control device. Background Technology

[0002] In shipbuilding, nuclear industry, chemical industry, and other fields, liquid-filled pipelines are prone to vibration fatigue failure due to long-term equipment vibration, leading to serious accidents such as leaks. Therefore, vibration absorption control of liquid-filled pipelines is necessary. When the operating conditions of the equipment change, the excitation frequency of the pipeline system also changes. Traditional passive vibration absorbers cannot adapt to the equipment's excitation frequency, thus their control effect is limited. Active pipeline control devices, on the other hand, can effectively control pipeline vibration in different directions, enhancing their ability to cope with complex vibration conditions and exhibiting better vibration control effects. This is beneficial for ensuring the stable operation of the pipeline system and is therefore being increasingly widely used.

[0003] The piezoelectric stack-based active control device for pipelines outputs an active control force through a piezoelectric ceramic actuator. This force is amplified by a displacement amplifier and then applied to the outer wall of the pipeline via pipe clamps, thereby suppressing vibration. While the piezoelectric stack active control device has good engineering feasibility, the nonlinear characteristics of piezoelectric ceramics, such as hysteresis and creep, significantly affect its control accuracy. Among all nonlinear factors, the hysteresis effect of piezoelectric ceramics is the most prominent. Therefore, hysteresis nonlinearity compensation is necessary to improve control accuracy. The patent with publication number CN121977040A and patent name "An Active Control Device for Pipelines Based on Piezoelectric Stacks" describes the structure and control method of an active control device for piezoelectric stacks. It uses the classic Bouc-Wen model to describe the hysteresis phenomenon of piezoelectric materials to achieve hysteresis nonlinear compensation. Although this method has been applied to some extent in engineering, the above-mentioned hysteresis nonlinear compensation process has many model parameters (such as stiffness, damping, hysteresis shape parameters, etc.), which usually require complex experimental identification. Moreover, the parameter values ​​are very sensitive to the shape of the hysteresis loop, resulting in low efficiency and poor generalization of manual parameter adjustment. In addition, there is a computational delay in the numerical solution of differential equations, which leads to the less than ideal control effect of the active control device for piezoelectric stacks. Summary of the Invention

[0004] This application addresses the aforementioned problems and technical requirements by proposing a composite compensation control method for an active control device of piezoelectric stacks. The technical solution of this application is as follows: A composite compensation control method for an active control device of a piezoelectric stack, the method comprising: The first is determined based on the desired vibration trajectory of the piezoelectric ceramic actuator in the piezoelectric stack active control device. One desired displacement point Integer parameters The initial value is 1; Desired displacement point The hysteresis voltage after hysteresis compensation is obtained by inputting a pre-fitted feedforward control model. ; The displacement sensor obtains the first... of the piezoelectric ceramic actuator actual displacement Using a PID controller based on the desired displacement point With actual displacement Displacement deviation between Obtain the deviation voltage ; According to the input voltage Piezoelectric ceramic actuators in active control devices for piezoelectric stacks.

[0005] A further technical solution is a composite compensation control method for an active control device of a piezoelectric stack, characterized in that it further includes: When the desired displacement point With actual displacement Displacement deviation between When the displacement deviation threshold is reached, the displacement deviation will be... The deviation voltage is obtained by inputting it into the PID controller. Otherwise, directly determine the deviation voltage. .

[0006] A further technical solution is that the composite compensation control method of the piezoelectric stack active control device also includes: The output displacement of the piezoelectric ceramic actuator under different input voltages was collected at multiple different frequencies. A feedforward control model is obtained by training a DNN network, using the output displacement as the model input and the input voltage at the corresponding frequency as the model output.

[0007] A further technical solution is that the composite compensation control method of the piezoelectric stack active control device also includes: use A phenomenological hysteresis model corresponding to the piezoelectric ceramic actuator is constructed by superimposing several Play operators. The phenomenological hysteresis model is used to characterize the piezoelectric ceramic actuator in... Input voltage at time Output displacement Integer parameters ; The model parameters in the phenomenological hysteresis model are obtained by identifying the output displacement of the piezoelectric ceramic actuator under multiple different input voltages at multiple different frequencies. The phenomenological hysteresis model with identified model parameters is inverted to obtain the hysteresis inverse model, which is then used as the feedforward control model.

[0008] Its further technical solution is to utilize The phenomenological hysteresis model corresponding to the piezoelectric ceramic actuator is constructed by superimposing several Play operators:

[0009] in, It is the time interval between two adjacent moments. The model parameters in the phenomenological hysteresis model include... The operator parameters of each of the Play operators, the i-th The operator parameters of the Play operator include weights. and threshold ; The feedforward control model is obtained by inverting the phenomenological hysteresis model whose parameters have been identified:

[0010] in, It is the first The weights of the inverse operators of the Play operator and , It is the first The threshold of the inverse operator of the Play operator and .

[0011] A further technical solution involves using the output displacement of a piezoelectric ceramic actuator at multiple different frequencies and input voltages to identify the model parameters in the phenomenological hysteresis model, including: By utilizing the output displacement of the piezoelectric ceramic actuator at multiple different input voltages at each frequency, the first... The Play operator at the current frequency The weights below Calculate the first The Play operator in The average of the weights at the typical frequencies is obtained for the first... The weights of the Play operator Integer parameters ; Determine the first Threshold of the Play operator ,in, Input voltage The maximum value.

[0012] Its further technical solution is to identify the first based on the least squares criterion. The Play operator at the current frequency The weights below include: Construct information about the current frequency The weight vector below error sum of squares polynomial Based on piezoelectric ceramic actuators at current frequencies The output displacement under multiple different input voltages is minimized by the sum of squared errors polynomial. Get the current frequency The weight vector below :

[0013] Among them, the current frequency The weight vector below , , The sampling period is It is the number of sampling points; At the current frequency The state vector under , It is the first The Play operator at the current frequency Theoretical output displacement under the input voltage. It is the first The Play operator at the current frequency The actual output displacement under the input voltage.

[0014] A further technical solution involves the number of Play operators superimposed in the phenomenological hysteresis model. The model parameters in the phenomenological hysteresis model, identified from 10 typical frequency points ranging from 10Hz to 100Hz with 10Hz intervals, include: The weight of the first Play operator Threshold ; The weights of the second Play operator Threshold ; The weight of the third Play operator Threshold ; The weight of the 4th Play operator Threshold ; The weight of the 5th Play operator Threshold ; The weight of the 6th Play operator Threshold ; The weight of the 7th Play operator Threshold ; The weight of the 8th Play operator Threshold ; The weight of the 9th Play operator Threshold ; The weight of the 10th Play operator Threshold ; The operator parameters of the inverse operators of each Play operator in the hysteresis inverse model obtained by inversion include: The weight of the inverse operator of the first Play operator Threshold ; The weights of the inverse operator of the second Play operator Threshold ; The weights of the inverse operator of the third Play operator Threshold ; The weights of the inverse operator of the fourth Play operator Threshold ; The weights of the inverse operator of the 5th Play operator Threshold ; The weights of the inverse operator of the 6th Play operator Threshold ; The weight of the inverse operator of the 7th Play operator Threshold ; The weight of the inverse operator of the 8th Play operator Threshold ; The weight of the inverse operator of the 9th Play operator Threshold ; The weight of the inverse operator of the 10th Play operator Threshold .

[0015] A further technical solution is to use an FPGA to implement a composite compensation control method for an active control device of a piezoelectric stack.

[0016] A further technical solution is that the composite compensation control method of the piezoelectric stack active control device also includes: Based on the vibration control requirements of the piezoelectric stack active control device, the desired vibration trajectory of the piezoelectric ceramic actuator is determined. The desired vibration trajectory of the piezoelectric ceramic actuator is discretized into a set of desired displacement points and stored in the FIFO memory in chronological order. Each desired displacement point is then read from the FIFO memory in chronological order.

[0017] The beneficial technical effects of this application are: This application discloses a composite compensation control method for an active control device of a piezoelectric stack. This method determines the desired displacement point based on the desired vibration trajectory of the piezoelectric ceramic actuator in the active control device. A pre-fitted feedforward control model is used to obtain a hysteresis voltage after hysteresis compensation based on the desired displacement point. A PID controller is used to obtain a deviation voltage based on the displacement deviation between the desired displacement point and the actual displacement. The hysteresis voltage and the deviation voltage are added to obtain the input voltage, which is used to control the piezoelectric ceramic actuator in the active control device, ensuring that its actual displacement tracks the desired displacement point. This composite compensation control method applies feedback compensation control on top of feedforward compensation control, employing a combined feedforward and feedback compensation control scheme. By combining the advantages of both and compensating for their respective shortcomings, it achieves higher control accuracy and effectively improves the control performance of the active control device of the piezoelectric stack.

[0018] This method not only provides a feedforward control method based on neural networks, but also a feedforward control method based on PI models. Furthermore, it can be used to build a system control model with good real-time performance and high control accuracy based on FPGA modules, and has good control effect. Attached Figure Description

[0019] Figure 1 This is a control block diagram of a composite compensation control method in one embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the hysteresis loop of a piezoelectric ceramic under input voltage at different frequencies.

[0021] Figure 3 This is a schematic diagram of a hardware platform used to implement the composite compensation control method in one embodiment of this application. Detailed Implementation

[0022] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0023] This application discloses a composite compensation control method for an active control device of a piezoelectric stack. This method combines feedforward control and feedback control to dynamically control the displacement output of the piezoelectric ceramic actuator in the active control device. The control block diagram of this method is shown below. Figure 1 As shown, it includes the following steps: Step 110: Determine the first... One desired displacement point Integer parameters The initial value is 1.

[0024] Based on the application scenario of the piezoelectric stack active control device, the vibration control requirements of the device can be determined, including amplitude, frequency, and initial phase. Based on these requirements, the desired vibration trajectory of the piezoelectric ceramic actuator can be determined. Then, numerical discretization of the desired vibration trajectory yields a set of desired displacement points. In practical applications, after pre-discretizing a set of desired displacement points, these points are sequentially stored in a FIFO (First In First Out) memory in chronological order. Then, each desired displacement point is read sequentially from the FIFO memory, and subsequent steps 120 and 130 are executed. A FIFO memory is a first-in-first-out data buffer. Its biggest difference from ordinary memory is the absence of external read / write address lines. Using a FIFO memory for data reading and writing can increase data transfer rates, handle large data streams, and match systems with different transfer rates, thereby effectively improving system performance.

[0025] Step 120, set the desired displacement point The hysteresis voltage after hysteresis compensation is obtained by inputting a pre-fitted feedforward control model. .

[0026] The feedforward control model used in this step is pre-fitted and is used to characterize the relationship between different input voltages and output displacements of the piezoelectric ceramic actuator. This application provides two different methods for fitting and constructing the feedforward control model: 1. In one embodiment, a feedforward control model is prefitted based on a DNN network.

[0027] The polarization phenomenon within piezoelectric ceramics is closely related to the frequency of the input voltage. If we plot the input electric field on the x-axis and the piezoelectric ceramic surface polarization intensity on the y-axis, the hysteresis loops of the piezoelectric ceramic under different input voltage frequencies are as follows: Figure 2 As shown. The hysteresis loop is a macroscopic description of the motion of ferroelectric domains inside a piezoelectric ceramic under the influence of an external electric field, and is an important property of piezoelectric ceramics. In real life, the interaction between piezoelectric ceramic particles and circuit measurement errors can cause phenomena such as center shift and asymmetry in the hysteresis loop. The existence of these phenomena makes it difficult to establish a mathematical model of the hysteresis loop of piezoelectric ceramics.

[0028] Therefore, this embodiment collects the output displacement of the piezoelectric ceramic actuator at multiple different frequencies under different input voltages. Then, using the output displacement as model input and the corresponding frequency's input voltage as model output, a feedforward control model is trained based on a DNN network. The neural network layers inside a DNN can be divided into three categories: input layer, hidden layer, and output layer. One or more neurons form a layer of neural network, and connecting several layers sequentially yields a deep neural network. The layers of a deep neural network are fully connected. The basic structure of a unit is a linear relationship plus an activation function. The activation function increases the nonlinear expressive power of the neural network, corresponding to the hysteresis nonlinearity of the piezoelectric ceramic. Deep neural networks not only have powerful nonlinear fitting capabilities, feature extraction capabilities, and fault tolerance, but also outperform machine learning when dealing with massive, high-dimensional data.

[0029] In one embodiment, the DNN network used comprises 9 layers. The training data consists of 5860 sets of data collected from the output displacement of a piezoelectric ceramic actuator at different frequencies and input voltages. The loss function is calculated and backpropagation is performed. The neural network weight parameters are updated according to the selected optimizer until a model that meets the expected accuracy requirements is obtained as the feedforward control model. In one embodiment, the mean squared error function is selected as the loss function, and the Adam optimizer is selected as the parameter update method. It can adaptively adjust the learning rate, enabling faster training convergence.

[0030] 2. In another embodiment, using a PI model to pre-fit the feedforward control model includes: (1) First utilize A phenomenological hysteresis model corresponding to the piezoelectric ceramic actuator is constructed by superimposing several Play operators. This phenomenological hysteresis model is used to characterize the piezoelectric ceramic actuator in... Input voltage at time Output displacement Integer parameters .

[0031] The PI model is a phenomenological hysteresis model based on a hysteresis operator, which can be viewed as a superposition of several Play operators with different thresholds. The PI model has a simple structure and an analytical inverse model expression, facilitating real-time control. The Play operator in The output displacement at time t can be expressed as:

[0032] in, It is the first The Play operator in Input voltage at time t, the first The operator parameters of the Play operator include weights. and threshold , It is the time interval between two adjacent moments.

[0033] Will After superimposing the Play operators, the expression for the phenomenological hysteresis model corresponding to the piezoelectric ceramic actuator can be obtained as follows:

[0034] (2) Similarly, the output displacement of the piezoelectric ceramic actuator at multiple different frequencies and input voltages is collected. The collected data is then used to identify the model parameters in the phenomenological hysteresis model according to the above expression. The model parameters in the phenomenological hysteresis model include... The operator parameters of each Play operator are identified, that is, the weights and thresholds of each Play operator are determined.

[0035] For the weights of each Play operator, the output displacement of the piezoelectric ceramic actuator at multiple different input voltages at each frequency is used to identify the weights based on the least squares criterion. The Play operator at the current frequency The weights below In identifying each Play operator at the current frequency When assigning weights, first construct a weighting for the current frequency. The weight vector below error sum of squares polynomial :

[0036] Among them, the current frequency The weight vector below , , The sampling period is It represents the number of sampling points. At the current frequency The state vector under , It is the first The Play operator at the current frequency Theoretical output displacement under the input voltage. It is the first The Play operator at the current frequency The actual output displacement under the input voltage.

[0037] Then, based on the piezoelectric ceramic actuator at the current frequency The output displacement under multiple different input voltages is minimized by the above error sum-of-squares polynomial. Get the current frequency The weight vector below .

[0038] Since the output displacement is different under input voltages of different frequencies, the identified first... The weights of the Play operator also vary slightly at different frequencies. Re-identifying the weights when adjusting the frequency would significantly increase the computational load; therefore, [the following is omitted as it is not explicitly stated]. At a typical frequency, then calculate the first... The Play operator in The average of the weights at the typical frequencies is used as the first... The weights of the Play operator Integer parameters .

[0039] For the threshold of each Play operator, the threshold is determined directly according to the following formula. Threshold of the Play operator :

[0040] in, Input voltage The maximum value.

[0041] Theoretically, the finer the threshold division, that is, the more Play operators there are. The more Play operators used, the higher the accuracy of the PI model, but this also increases the model's complexity. Conversely, using fewer Play operators reduces the accuracy of the PI model. In one embodiment, considering all trade-offs, the number of Play operators superimposed in the phenomenological hysteresis model is chosen. The 10 typical frequencies selected are 10 Hz to 100 Hz, with 10 Hz intervals, namely 10 Hz, 20 Hz, 30 Hz, 40 Hz, 50 Hz, 60 Hz, 70 Hz, 80 Hz, 90 Hz, and 100 Hz. The model parameters in the identified phenomenological hysteresis model include: The weight of the first Play operator Threshold .

[0042] The weights of the second Play operator Threshold .

[0043] The weight of the third Play operator Threshold .

[0044] The weight of the 4th Play operator Threshold .

[0045] The weight of the 5th Play operator Threshold .

[0046] The weight of the 6th Play operator Threshold .

[0047] The weight of the 7th Play operator Threshold .

[0048] The weight of the 8th Play operator Threshold .

[0049] The weight of the 9th Play operator Threshold .

[0050] The weight of the 10th Play operator Threshold .

[0051] (3) Based on the phenomenological hysteresis model obtained above, the relationship between input voltage and output displacement can be described. Therefore, the inverse hysteresis model obtained by inverting the phenomenological hysteresis model with the identified model parameters can be used as a feedforward control model.

[0052] Based on the expression of the phenomenological hysteresis model described above, the expression of the feedforward control model is obtained by inverting the phenomenological hysteresis model whose parameters have been identified:

[0053] in, It is the first The weights of the inverse operators of the Play operator and , It is the first The threshold of the inverse operator of the Play operator and .

[0054] Based on the model parameters identified in the above embodiments, the model parameters in this feedforward control model include: The weight of the inverse operator of the first Play operator Threshold .

[0055] The weights of the inverse operator of the second Play operator Threshold .

[0056] The weights of the inverse operator of the third Play operator Threshold .

[0057] The weights of the inverse operator of the fourth Play operator Threshold .

[0058] The weights of the inverse operator of the 5th Play operator Threshold .

[0059] The weights of the inverse operator of the 6th Play operator Threshold .

[0060] The weight of the inverse operator of the 7th Play operator Threshold .

[0061] The weight of the inverse operator of the 8th Play operator Threshold .

[0062] The weight of the inverse operator of the 9th Play operator Threshold .

[0063] The weight of the inverse operator of the 10th Play operator Threshold .

[0064] Step 130: Obtain the first displacement sensor value of the piezoelectric ceramic actuator. actual displacement Using a PID controller based on the desired displacement point With actual displacement Displacement deviation between Obtain the deviation voltage .

[0065] PID controller, also known as proportional-integral-derivative control, measures displacement deviation. The control quantity is formed by a linear combination of proportional, integral, and derivative terms, which yields the deviation voltage. The proportional element of a PID controller reacts to displacement deviations in real time and proportionally. Displacement deviation Once the error is generated, the PID controller immediately takes control action to reduce it; therefore, the proportional element is based on the displacement deviation. This is adjustment, also known as differential adjustment. The integral element of a PID controller can adjust for displacement deviation. The memory function is primarily used to eliminate steady-state error and improve the system's accuracy. The strength of the integral action depends on the integral time constant; a larger integral time constant results in a weaker integral action, and vice versa. The derivative element of the PID controller reflects the displacement deviation. The changing trend (rate of change) and can be observed in displacement deviation. Before the error becomes too large, an effective early correction signal is introduced into the system to speed up the system's response and reduce the settling time. From a time perspective, proportional action controls the current system error, integral action controls the historical system error, and derivative action reflects the changing trend of the system error.

[0066] In another embodiment, firstly, the displacement deviation is... Make a judgment when the displacement deviation When the displacement deviation threshold is reached, the displacement deviation will be... The deviation voltage is obtained by inputting it into the PID controller. Otherwise, directly determine the deviation voltage. .

[0067] Step 140, according to the input voltage Piezoelectric ceramic actuators in active control devices for piezoelectric stacks.

[0068] Both simple feedforward control and feedback control based on closed-loop control algorithms have certain limitations. Simple feedforward compensation relies on accurate modeling and lacks sufficient resistance to unknown disturbances that may occur during operation. Simple feedback compensation control also requires sufficient response time to track the desired output trajectory. Therefore, this application applies feedback compensation control on the basis of feedforward compensation control, adopting a combined feedforward and feedback compensation control scheme to combine the advantages of both and compensate for their respective shortcomings, thereby achieving higher control accuracy.

[0069] However, this control method tends to result in a complex and large control system with poor real-time performance. Therefore, this application combines feedforward control based on DNN networks or hysteresis inverse models with feedback control based on PID controllers, and builds the entire system on an FPGA to solve the problem of insufficient real-time control. The hardware platform for implementing this method is as follows: Figure 3 As shown, it includes a real-time control module, an FPGA module, a data acquisition module, and a data conversion module. The sensor at the output of the piezoelectric ceramic driver is connected to the data acquisition module via a signal conditioning module. The FPGA module determines the input voltage of the piezoelectric ceramic driver according to the method provided in this application and inputs it to the piezoelectric drive module of the piezoelectric ceramic driver via a data conversion module. The above hardware platform can be implemented using a computer equipped with LabVIEW FPGA control software and related algorithms.

[0070] The above descriptions are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations that can be directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.

Claims

1. A composite compensation control method for an active control device of a piezoelectric stack, characterized in that, The composite compensation control method of the piezoelectric stack active control device includes: The first is determined based on the desired vibration trajectory of the piezoelectric ceramic actuator in the piezoelectric stack active control device. One desired displacement point Integer parameters The initial value is 1; Desired displacement point The hysteresis voltage after hysteresis compensation is obtained by inputting a pre-fitted feedforward control model. ; The displacement sensor obtains the first... of the piezoelectric ceramic actuator actual displacement Using a PID controller based on the desired displacement point With actual displacement Displacement deviation between Obtain the deviation voltage ; According to input voltage Piezoelectric ceramic actuators in active control devices for piezoelectric stacks.

2. The composite compensation control method of the piezoelectric stack active control device according to claim 1, characterized in that, The composite compensation control method of the piezoelectric stack active control device is characterized in that it further includes: When the desired displacement point With actual displacement Displacement deviation between When the displacement deviation threshold is reached, the displacement deviation will be... The deviation voltage is obtained by inputting it into the PID controller. Otherwise, directly determine the deviation voltage. .

3. The composite compensation control method of the piezoelectric stack active control device according to claim 1, characterized in that, The composite compensation control method of the piezoelectric stack active control device also includes: The output displacement of the piezoelectric ceramic actuator under different input voltages was collected at multiple different frequencies. The feedforward control model is obtained by training a DNN network with the output displacement as the model input and the input voltage at the corresponding frequency as the model output.

4. The composite compensation control method of the piezoelectric stack active control device according to claim 1, characterized in that, The composite compensation control method of the piezoelectric stack active control device also includes: use A phenomenological hysteresis model corresponding to the piezoelectric ceramic actuator is constructed by superimposing several Play operators. The phenomenological hysteresis model is used to characterize the piezoelectric ceramic actuator in... Input voltage at time Output displacement Integer parameters ; The model parameters in the phenomenological hysteresis model are obtained by identifying the output displacement of the piezoelectric ceramic actuator under multiple different input voltages at multiple different frequencies. The phenomenological hysteresis model whose parameters have been identified is inverted to obtain the hysteresis inverse model, which is then used as the feedforward control model.

5. The composite compensation control method of the piezoelectric stack active control device according to claim 4, characterized in that, use The phenomenological hysteresis model corresponding to the piezoelectric ceramic actuator is constructed by superimposing several Play operators: in, It is the time interval between two adjacent moments. The model parameters in the phenomenological hysteresis model include... The operator parameters of each of the Play operators, the i-th The operator parameters of the Play operator include weights. and threshold ; The feedforward control model is obtained by inverting the phenomenological hysteresis model whose parameters have been identified: in, It is the first The weights of the inverse operators of the Play operator and , It is the first The threshold of the inverse operator of the Play operator and .

6. The composite compensation control method of the piezoelectric stack active control device according to claim 5, characterized in that, The model parameters in the phenomenological hysteresis model are obtained by identifying the output displacement of the piezoelectric ceramic actuator at multiple different frequencies and input voltages, including: By utilizing the output displacement of the piezoelectric ceramic actuator at multiple different input voltages at each frequency, the first... The Play operator at the current frequency The weights below Calculate the first The Play operator in The average of the weights at the typical frequencies is obtained as the first... The weights of the Play operator Integer parameters ; Determine the first Threshold of the Play operator ,in, Input voltage The maximum value.

7. The composite compensation control method of the piezoelectric stack active control device according to claim 6, characterized in that, Based on the least squares criterion, the first... The Play operator at the current frequency The weights below include: Construct information about the current frequency The weight vector below error sum of squares polynomial Based on piezoelectric ceramic actuators at current frequencies The output displacement under multiple different input voltages is minimized by the sum of squared errors polynomial. Get the current frequency The weight vector below : Among them, the current frequency The weight vector below , , The sampling period is It is the number of sampling points; At the current frequency The state vector under , It is the first The Play operator at the current frequency Theoretical output displacement under the input voltage. It is the first The Play operator at the current frequency The actual output displacement under the input voltage.

8. The composite compensation control method of the piezoelectric stack active control device according to claim 7, characterized in that, Number of superimposed Play operators in phenomenological hysteresis models The model parameters in the phenomenological hysteresis model, identified from 10 typical frequency points ranging from 10Hz to 100Hz with 10Hz intervals, include: The weight of the first Play operator Threshold ; The weights of the second Play operator Threshold ; The weight of the third Play operator Threshold ; The weight of the 4th Play operator Threshold ; The weight of the 5th Play operator Threshold ; The weight of the 6th Play operator Threshold ; The weight of the 7th Play operator Threshold ; The weight of the 8th Play operator Threshold ; The weight of the 9th Play operator Threshold ; The weight of the 10th Play operator Threshold ; The operator parameters of the inverse operators of each Play operator in the hysteresis inverse model obtained by inversion include: The weight of the inverse operator of the first Play operator Threshold ; The weights of the inverse operator of the second Play operator Threshold ; The weights of the inverse operator of the third Play operator Threshold ; The weights of the inverse operator of the fourth Play operator Threshold ; The weights of the inverse operator of the 5th Play operator Threshold ; The weights of the inverse operator of the 6th Play operator Threshold ; The weight of the inverse operator of the 7th Play operator Threshold ; The weight of the inverse operator of the 8th Play operator Threshold ; The weight of the inverse operator of the 9th Play operator Threshold ; The weight of the inverse operator of the 10th Play operator Threshold .

9. The composite compensation control method of the piezoelectric stack active control device according to claim 1, characterized in that, A composite compensation control method for the active control device of the piezoelectric stack is implemented using FPGA.

10. The composite compensation control method of the piezoelectric stack active control device according to claim 1, characterized in that, The composite compensation control method of the piezoelectric stack active control device also includes: Based on the vibration control requirements of the piezoelectric stack active control device, the desired vibration trajectory of the piezoelectric ceramic actuator is determined, and the desired vibration trajectory of the piezoelectric ceramic actuator is discretized into a set of desired displacement points and stored in the FIFO memory in chronological order; and each desired displacement point is read from the FIFO memory in chronological order.

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