基于H-like模型的压电陶瓷作动器内模控制

Internal Mode Control of Piezoelectric Ceramic Actuator Based on H-like Model

针对压电陶瓷作动器的率相关特性降低应用端控制精度的问题,该文研究了基于Hammerstein-like模型的内模控制策略。其中非线性部分由最小二乘支持向量机模型表示,动态线性部分由自回归历遍模型表示。在此基础上构建了系统逆模型,设计了内模控制器以实现对压电陶瓷作动器的跟踪控制,最后通过实验平台进行了验证。实验结果表明,实时跟踪100 Hz内的期望信号相对误差均小于10%,证明了所设计内模控制方案的有效性。

Aiming at the problem that the rate-dependent characteristics of piezoelectric ceramic actuators seriously reduce the control accuracy of the application side,the internal model control strategy based on the Hammerstein-like model is studied in this paper.The nonlinear part is represented by the least squares support vector machine model,and the dynamic linear part is represented by the autoregressive traversal model.On this basis,the inverse model of the system is constructed,and then the internal model controller is designed to realize the tracking control of the piezoelectric ceramic actuator.Finally,it is verified by the experimental platform.The experimental results show that the relative error of the expected signal within 100 Hz of real-time tracking is less than 10%,which proves the effectiveness of the designed internal model control scheme.