基于三明治模型的压电陶瓷执行器自适应逆控制

Adaptive Inverse Control of Piezoelectric Actuator Based on Sandwich Model

在压电陶瓷执行器(PEA)的高频超精密运动控制中,由于常规方法无法有效的描述和控制这类前端带有驱动电源放大器和后端带有柔性铰链装置的三明治模型。故文章提出一种基于三明治迟滞模型的自适应逆控制方案:首先,通过引入一种非线性离散迟滞逆算子,解决非光滑迟滞环节的参数线性化描述问题;接着提出一种基于关键项分离技术的广义自适应滤波算法,在线估计逆模型控制器的各个参数。最后对所提出控制方案的稳定性进行证明。实验结果表明:所提出控制方案达到预期。

In the high frequency ultra-precision motion control of piezoelectric ceramic actuator(PEA),the conventional method is unable to describe and control such sandwich models with a driving power amplifier at the front end and a flexible hinge device at the back end.Therefore,an adaptive inverse control scheme based on sandwich hysteresis model is proposed in this paper.Firstly,a nonlinear discrete hysteresis inverse operator is introduced to solve the problem of parametric linearization of nonsmooth hysteresis.Then a generalized adaptive filtering algorithm based on the key term separation technique is proposed to estimate the parameters of the inverse model controller on line.Finally,the stability of the proposed control scheme is proved.The experimental results show that the proposed control scheme is satisfactory.