多层压电执行器输出位移的模糊神经元PID控制

Fuzzy Neuron PID Control of Output Displacement of Multilayer Piezoelectric Actuator

为了提升压电执行器输出位移的性能,该文采用模糊神经元比例、积分、微分(PID)控制器对其输出位移进行控制。首先,分析了压电悬臂梁执行器机电特性,搭建其动力学模型;其次,将模糊算法、神经元、PID三者相结合,设计出一种能快速、精确、抗干扰能力强的控制器;最后,对压电悬臂梁执行器控制系统进行了仿真,并通过实验验证了该控制器的性能。结果表明,压电执行器对5μm阶跃目标位移的响应时间为0.3 s,且无超调,稳态误差中线由无控制时的0.57~0.66μm减小为几乎为0;在跟踪由正弦信号、常值信号、斜坡信号所组成的目标位移时,跟踪误差几乎为0。该文所设计控制器可消除压电执行器的定位误差,并使其具有抗干扰能力强,响应迅速,无超调量等优点。

In order to improve the output displacement performance of piezoelectric actuator,a fuzzy neuron proportional,integral,and derivative(PID)controller is used to control its output displacement.Firstly,the mechanical and electrical characteristics of piezoelectric cantilever actuator are analyzed,and the dynamic model is established.Secondly,a controller with fast,accurate and strong anti-interference ability is designed by combining the fuzzy algorithm,neuron and PID.Finally,the control system of piezoelectric cantilever actuator is simulated,and the performance of the controller is verified by experiments.The results show that the response time of the piezoelectric actuator to 5μm step target displacement is 0.3 s,and no overshoot.The center line of steady-state error decreases from 0.57~0.66μm without control to almost 0;when tracking the target displacement composed of sinusoidal signal,constant signal and slope signal,the tracking error is almost 0.It can be seen that the designed controller can eliminate the positioning error of the piezoelectric actuator and have the advantages of strong anti-interference ability,rapid response and no overshoot.