基于复合ADRC的压电陶瓷驱动器自适应控制

Adaptive Control of Piezoelectric Ceramic Actuator with Composite ADRC

针对压电陶瓷驱动器固有的迟滞现象对其定位控制精度的影响问题,提出将自抗扰控制(ADRC)与改进Preisach逆模型相结合的控制方案.以模型输入、输出迟滞环的线性度为标准,目的是提高微动工作台的定位精度,从而提高微操作效率和成功率.为了验证所提出控制策略的有效性,通过无控制方法、改进逆Preisach控制方法、复合PID方法、ADRC控制和复合ADRC控制实验,得出所选用压电陶瓷驱动器的迟滞环比重分别为12.3%,5.8%,4.7%,2.5%,1.4%.不同控制方案所得实验结果证明,ADRC与迟滞逆模型相结合的控制方案具有良好的控制性能.

To eliminate the influence of the inherent hysteresis phenomenon of the piezoelectric ceramic actuator,a control scheme based on the combination of the active disturbance rejection control（ ADRC） and the improved Preisach model is proposed. Taking the linearity of hysteresis loop of the model＇s input and output as a criterion,the model is used to improve the positioning accuracy of the piezoelectric,thus improving the operating efficiency and success rate in bio manipulation. Through the experiments of different control schemes,the proportion of hysteresis loop is about 12. 3%（ no control）,5. 8%（ improved inverse Preisach control）,4. 7%（ composite PID）,2. 5%（ ADRC）,1. 4%（ composite ADRC）. The experimental results comparisons prove that the control scheme proposed has good performance.