压电陶瓷执行器的非光滑三明治模型辨识与内模控制

Identification and control of piezoceramic actuator using nonsmooth sandwich model

压电陶瓷执行器中含有非光滑、多值映射、频率依赖的非线性迟滞特性,然而在实际应用中,压电器件的输入输出信号无法直接测量,常规方法难以进行有效的辨识和控制.本文采用三明治模型来精确描述实际对象,并提出一种基于退化激励信号的两步辨识法解决三明治迟滞模型的辨识问题.最后,基于已辨识的三明治模型,设计一个内模控制器,解决压电陶瓷执行器的精密轨迹控制问题.实验结果表明所提出的辨识和控制方案取得了令人满意的结果.

As the hysteresis embedded in the piezoceramic actuator is a nonsmooth nonlinear and rate-dependent tunc- tion with mukivalued mapping, also the input and output of the hysteresis cannot be measured directly, it is very difficult to use the traditional schemes to identify and control such a system. In this paper, a piezoceramic actuator is described by a sandwich model and identified by a two-stage method based on the degeneration inputs. Then, according to the obtained sandwich model with hysteresis, an internal model control scheme is proposed. The experimental results are presented to illustrate the performance of the proposed identification and control scheme.