基于多策略数学算法的弯振复合型超声驱动器振动控制模型研究

Research on Vibration Control Model of Bending-vibration Compound Ultrasonic Actuator Based on Multi-strategy Mathematical Algorithm

弯振复合型超声驱动器在手动静态饱和应力作用下产生振动,为了提高驱动器的振动控制能力,提出基于多策略数学算法的弯振复合型超声驱动器振动控制模型。采用线性自抗扰控制的方法建立弯振复合型超声驱动器的动力学和运动学模型,采用传感信息检测方法实现对弯振复合型超声驱动器的振动参数检测,对提取的驱动器振动参数信息采用多策略数学算法进行特征提取和动态反馈跟踪测量,通过求解运动学规划模型,采用自主反馈动态调节实现对弯振复合型超声驱动器的振动误差补偿,通过静态抗饱和的误差反馈补偿方法实现弯振复合型超声驱动器振动优化控制。仿真结果表明,采用该方法进行弯振复合型超声驱动器振动控制的稳态性较好,抗振性能较好,提高了驱动器的输出平稳性和鲁棒性。

Bending-vibration compound ultrasonic actuator vibrates under the action of manual static saturation stress.In order to improve the vibration control ability of the actuator,a vibration control model of bending-vibration compound ultrasonic actuator based on multi-strategy mathematical algorithm is proposed.The linear active disturbance rejection control method is used toestablish the dynamic and kinematic models of the bending-vibration composite ultrasonic driver.The sensor information detection method is used to detect the vibration parameters of the bending-vibration composite ultrasonic driver.The extracted vibration parameters are extracted by multi-strategy mathematical algorithm and tracked by dynamic feedback.By solving the kinematic planning model,the vibration error compensation of the bending-vibration composite ultrasonic driver is realized by self-feedback dynamic adjustment,and the vibration optimization control of the bending-vibration composite ultrasonic driver is realized by static anti-saturation error feedback compensation method.The simulation results show that the vibration control of the bending-vibration compound ultrasonic actuator with this method has good stability and anti-vibration performance,and the output stability and robustness of the actuator are improved.