基于干扰观测器和迟滞观测器的压电致动器控制

Control for Piezoelectric Actuator Based on Disturbance Observe and Hysteresis Observer

压电致动器的迟滞效应可以视为外部干扰,它既有低频部分又有高频部分,零相位误差跟踪控制器加干扰观测器的结构可以有效地补偿迟滞效应的低频成分,但未补偿高频成分,为了改进跟踪低频、高频输入信号的性能,提出了零相位误差跟踪控制器加干扰观测器加迟滞观测器的控制方案。仿真结果表明,该控制方案可以有效地改善低频和高频的跟踪性能。

The hysteresis effect of piezoelectric actuator can be regarded as exterior disturbances,it has high frequency regions and low frequency regions,the zero phase error tracking controller（ZPETC）with disturbance observer（DO）control scheme has been shown to be robust to disturbances of low frequencies in the precision motion control,while the higher frequency hysteresis effect is not be compensated.To improve the tacking performance of high frequency and low frequency input signals,a zero phase error tracking controller with hysteresis observer（HO）and disturbance observer control scheme was designed.The result of simulation indicates the proposed scheme can improve the tacking performance of high frequency and low frequency input signals.