Preisach逆模型补偿的压电陶瓷执行器自适应滑模控制  

Adaptive Sliding Control of the Piezoceramic Actuator with the Inverse Preisach Model Compensation

作　　者：李黎[1] 刘向东[1] 侯朝桢[1] 

机构地区：[1]北京理工大学信息科学技术学院自动控制系,北京100081

出　　处：《北京理工大学学报》2008年第3期237-240,共4页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(10402003);国家教育部博士后科学研究基金资助项目(2005038047)

摘　　要：为了降低压电陶瓷执行器迟滞特性对纳米定位平台精度的影响,利用Preisach逆模型补偿迟滞特性,并针对逆模型未能完全补偿的迟滞特性、模型参数的不确定性以及其他扰动设计了自适应滑模控制律.仿真实验结果表明,与普通滑模控制器以及逆补偿PID控制器相比,逆补偿的自适应滑模控制器提高了定位系统的跟踪精度,对系统不确定性和外界扰动有较强的鲁棒性.To reduce the effect of hysteresis of piezoceramic actuator to the accuracy of the nano positioning stage, inverse Preisach model is used to compensate the hysteresis nonlinearity and an adaptive sliding mode controller is designed to cancel the remaining hysteresis, uncertainty of the model, and other disturbances. Simulation results illustrate that the proposed control strategy improves the tracking accuracy of the system and is more robust compared with the normal sliding controller and PID controller with compensation of the inverse Preisach model.

关 键 词：Preisach逆模型 自适应滑模控制 压电陶瓷执行器 迟滞特性 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]