压电叠堆执行器迟滞建模与前馈补偿研究

Research on Modeling and Feedforward Compensation of the Hysteresis of Piezoelectric Stack Actuator

针对压电叠堆执行器输入电压与输出位移的动态迟滞特性,结合非对称静态Bouc-Wen迟滞模型,建立了压电叠堆执行器动态迟滞模型,并采用粒子群算法辨识出6个模型参数。为提高压电叠堆执行器动态位移输出精度,进一步推导出压电叠堆执行器迟滞逆模型,最终在此基础上对压电叠堆执行器进行前馈补偿研究。仿真与实验结果对比表明,在0~120V峰值电压与0~500Hz激励频率内,所建立的动态迟滞模型能够较好地描述与预测压电叠堆执行器的动态输出位移。前馈补偿实验研究结果表明,利用所建的迟滞逆模型补偿后,压电叠堆执行器的滞环减小,输出位移非线性度下降约3%。

Aiming at the dynamic hysteresis of piezoelectric stack actuator（PA）between input voltage and output displacement,the dynamic hysteresis model which based on the asymmetric Bouc-Wen hysteresis model was established;the six parameters of hysteresis model was recognized by the particle swarm algorithm.To improve dynamic output displacement of PA,the hysteresis inverse model was derived;the feedforward control was used to compensate the hysteresis.The results of simulation and experiment showed that when PA was driven by 0~120 V input peak voltage or 0~500 Hz driven frequency,the dynamic hysteresis model can well reflect and forecast the output dynamic displacement.The feedforward compensation experiment result shows that the feedforward compensation based on the inverse model can decreased the area of hysteresis loop and the non-linearity of output displacement is decreased about 3%.