摘要
针对压电定位平台在宽频域内存在的复杂输入-输出之间的动态率相关的迟滞非线性特性问题,提出了一种基于Hammerstein模型的动态率相关迟滞非线性建模方法。该模型静态非线性部分使用经典PI(prandtl-shlinskii)模型描述,其权值参数的辨识方法为非线性最小二乘法。动态线性部分采用率相关的二阶传递函数表征,分别在输入信号为低频和中高频时建立不同的传递函数,并利用系统工具箱辨识其模型系数。最后通过压电定位实验平台对所建立的动态率相关迟滞模型进行验证。实验结果表明,输入信号在低频和中高频时动态部分传递函数具有明显的率相关特性,所建立的模型能精确描述压电定位平台的动态率相关迟滞特性。
Aiming at the problem of the complicated input-output dynamic rate-dependent hysteresis and nonlinear characteristics in piezoelectric positioning platform,a dynamic rate-dependent hysteresis nonlinear modeling method based on the Hammerstein model is proposed.The static nonlinear part of the model is described by the classical PI model,and the model weight parameters are identified by the nonlinear least square method.The dynamic linear part uses rate-related second-order transfer functions for characterization.Different transfer functions are established when the input signal is low-frequency and medium-high frequency,and the system toolbox is used to identify its model coefficients.Finally,the established dynamic rate-dependent hysteresis model was verified by the piezoelectric positioning experiment platform.The experimental results show that the transfer function of the dynamic part of the input signal has obvious rate-dependent characteristics at low and medium-high frequencies,and the established model can accurately describe the dynamic rate-dependent hysteresis characteristics of the piezoelectric positioning platform.
作者
李亮
喻俊
温盛军
LI Liang;YU Jun;WEN Sheng-jun(School of Electronic and Information Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China;School of Zhongyuan-Petersburg Aviation,Zhongyuan University of Technology,Zhengzhou 450007,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第6期31-35,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
NSFC-深圳机器人基础研究中心项目重点支持项目(U1813201)
河南省科技攻关项目“智能材料驱动器回滞特性建模与控制研究”(182102410056)。
