基于增量PID的压电微位移器驱动控制系统开发

Development of Actuation Control System of Piezoelectric Micro-Displacement Device Based on Increment PID Algorithm

对基于数字增量PID算法的压电微位移器驱动控制系统进行了理论分析和开发研究,提出了基于数字增量PID算法的压电微位移器控制系统的设计方案,并利用通用计算机及数据采集板对其进行了开发,最后将该微位移控制系统用于基于压电堆驱动器的机械手手指张合运动控制系统中,取得了良好的控制效果。该微位移器控制系统具有实现简便、控制效果好、通用性强等特点,可广泛用于各类基于压电驱动的微位移器位移控制系统中。

A whole theoretical analysis and development work has been done on the actuation control system of piezoelectric micro-displacement device based on digital increment PID algorithm.A control scheme based on digital increment PID algorithm was presented to realize the actuation control system.Using general purpose PC and data acquisition card,the control system was developed.It was applied to the mechanical arm fingers movement control system based on piezoelectric stack,and worked well.The actuation control system has the following characteristics：convenience to realize,good controlling effect,good general purpose for use and so on.It can be applied to many kinds of actuation control system of piezoelectric micro-displacement device.