基于模糊树的Hammerstein-like模型对超磁致伸缩作动器的建模与控制

Modeling and control of giant magnetostrictive actuator based on a hammerstein-like model by using fuzzy tree method

基于模糊树提出一种带有动态非线性环节的Hammerstein-like建模方法以描述超磁致伸缩作动器的率相关迟滞非线性特性。所提方法能在一定频率范围内建立一个统一模型,使之不仅能较好地描述单一频率输入信号下的迟滞环,也能较好地描述复合频率输入信号下的迟滞环。同时,基于所提Hammerstein-like模型,设计前馈逆补偿+PID反馈控制策略,实现参考输入信号的跟踪实验,实验结果表明,该控制策略能较好地跟踪频率范围为1～150 Hz的参考输入信号,跟踪精度令人满意,满足工程要求。

A Hammerstein-like model based on fuzzy tree method (FT) was proposed to model the rate-dependent hysteresis nonlinearity of the Giant Magnetostrictive Actuator (GMA) and was validated through experimental data. The proposed dynamic modeling method can realize the construction of a unique model in a given frequency range with respect to both single frequency and multiple frequency input signals. Based on the proposed model, a PID feedback controller combined with an inverse compensation of the nonlinearity in the feedforward loop was used for tracking control. Experimental results show that the control strategy is effective.