双压电二维叠堆执行器控制实验研究

Experimental Research on Control of Dual Piezoelectric Two-Dimensional Stack Actuators

针对双压电二维叠堆执行器的输出迟滞性问题,该文设计了一种双压电复合控制方法。先建立执行器数学模型并完成参数辨识,再结合非对称Bouc-Wen模型与增量微分、积分及比例(PID)模型,完成复合控制模型的建立,最后基于数字信号处理(DSP)控制器完成前馈控制、增量PID控制与复合控制的实验对比。结果表明,该复合控制方法能有效抑制执行器的输出迟滞性,当驱动电压峰-峰值为96 V,频率为500 Hz时,执行器滞环率仅为未控制时滞环率的31.6%,远低于前馈控制时滞环率(74.2%)及增量PID控制时滞环率(167.8%)。

In order to solve the problem of the output hysteresis of two-dimensional piezoelectric stack actuator,a dual piezoelectric composite control method is designed in this paper.Firstly,the mathematical model of the actuator was established and the parameters identification was carried out.Secondly,combining the asymmetric Bouc-Wen model and the incremental differential,integral and proportional(PID)model,the composite control model was established.Finally,the experimental comparison among the feedforward control,incremental PID control and composite control was carried out based on the digital signal processing(DSP)controller.The experimental results show that the composite control method can effectively suppress the output hysteresis of the actuator.When the peak-to-peak driving voltage is 96 V and the frequency is 500 Hz,the hysteresis rate of the actuator is only 31.6%of that of the uncontrolled state,which is much lower than that of the feedforward control(74.2%)and incremental PID control(167.8%).