超磁致伸缩致动器中的时滞建模与Smith控制策略

Modeling of Time-delay in Giant Magnetostrictive Actuator and Smith Strategy

分析了超磁致伸缩致动器中的时滞环节及其机理,将可控恒流源和由驱动线圈组成的电感电路结合,运用试验方法对其进行整体建模,引入Smith控制策略来解决超磁致伸缩致动器中的时滞问题;研究了扰动情况下以及系统模型参数发生变化的情况下,时滞环节对超磁致伸缩致动器动态性能的影响;通过对比试验,给出了一种能同时满足系统动态性和鲁棒性要求的解决方案。

The time-delay and its causes in giant magnetostrictive actuator were analyzed. Besides, the controllable power and inductance were integrated with experimental techniques when modeling of time-delay in giant magnetostrictive actuator. The integrated way demonstrated a more efficient effect comparing with conventional methods. Also, Smith strategy was proposed to solve time-delay in giant magnetostrictive actuator The influence of time-delay in giant magnetostrictive actuator dynamic performances was discussed, especially in condition of disturbance and variational parameters. A new solution satisfying both dynamics and robust was proposed based on comparison experiments.