基于Hammerstein的压电作动器的建模与自适应逆控制

Modeling and Control of Piezoelectric Actuator Based on Hammerstein

为了补偿压电作动器中的率相关迟滞特性,提出一种基于Hammerstein结构的自适应控制策略。首先对率相关迟滞特性进行建模,接着利用模型的逆作为前馈控制器抵消其迟滞特性。针对系统的非线性和不确定性,采用LMS算法动态调整逆模型中参数,使逆模型不断逼近真实逆模型。实验结果表明,在1-100Hz内,压电作动器跟踪控制相对误差低于3.01%,验证该算法的有效性。

Proposes a Hammerstein structure based adaptive control scheme to compensate the hysteresis in piezoelectric actuators（PEA） with rate-dependent characteristics.The main idea is to model the rate-dependent hysteresis first,and then uses the inverse model as a feed-forwardcontroller to cancel the hysteresis effect.To deal with the nonlinearities and uncertainties of system,employs a LMS algorithm to adjust pa-rameters in the inverse compensator dynamically,so that the inverse model is continuously approximated by the true inverse model.The ex-perimental results show that in the range of 1-100 Hz,the relative error of the tracking control is less than 3.01%,which validates the effec-tiveness of the algorithm.