迟滞系统建模与自适应控制

Modeling and Adaptive Control of Hysteresis System

迟滞非线性是影响智能材料驱动器工作精度的主要因素。为了降低迟滞特性对驱动器工作的影响,需要对其建模和补偿。Prandtl-Ishlinskii(PI)截止算子被用于建立迟滞模型,经过推导将迟滞特性分解为线性部分和非线性部分。采用PI的启动算子对其非线性部分进行补偿,由Lyapunov稳定性理论推导出此控制方案的自适应控制规律。通过仿真验证了所提出的迟滞非线性补偿方案的有效性。

A major limitation of intelligent material actuators is their lack of accuracy due to the hysteresis nonlinearity. In order to mitigate the effect of the hysteresis, it is necessary to build hysteresis model and compensate hysteresis nonlinearity. The Prandtl-Ishlinskii （PI） stop operator was used to build hysteresismodel, the model is divided into linear part and nonlinear part. The Pl play operator was employed to compensate nonlinear part of hysteresis model. The adaptive control law for the control mothed was deduced from the Lyapunov stability theorem. The emulational results confirm the availability of hysteresis nonlinear compensation control.