一种新的磁滞非线性前馈补偿算法  

A Novel Algorithm of Nonlinear Hysteresis Feedforward Compensation

作　　者：舒亮[1] 陈定方[1] 卢全国[1,2] 

机构地区：[1]武汉理工大学智能制造与控制研究所,武汉430063 [2]南昌工程学院机械与动力系南昌,330006

出　　处：《自动化学报》2009年第7期953-958,共6页Acta Automatica Sinica

基　　金：国家自然科学基金(50865008);湖北省数字化纺织装备重点实验室开放基金(DTL200713);江西省教育厅科技项目(GJJ08456);湖北省机械传动与制造工程省重点实验室开放基金重点项目(200704B)资助~~

摘　　要：针对超磁致伸缩致动器磁滞非线性特征,建立了描述其非线性行为的Preisach数学模型,以F函数法求解了该模型的数值模型.针对当前致动器非线性前馈补偿控制中迭代和执行效率低的缺点,将磁滞非线性理解为系统干扰,提出了一种新的非线性前馈补偿算法,在求解Preisach逆模型过程中,引入稳态误差信号作为参考变量,以Sigmoid函数变步长算法进行迭代步长自适应动态调整.计算机仿真和实验研究均表明,与当前的磁滞模型求逆算法相比,所提出的算法在保证控制精度的同时可以显著提高系统收敛速度,大大提高了程序的执行效率.A Preisach model is constructed for the hysteresis and nonlinearity of the giant magnetostrictive actuator, and the numerical format is given in F function method. With hysteresis and nonlinear being system disturbances, a novel nonlinear adaptive compensation algorithm is presented to accelerate the convergence speed which is the weakness in conventional comensation control of the giant magnetostrictive actuator. Steady-state error is taken as one reference input when solving the inverse of Preisach model and the sigmoid function is introduced into the variable step algorithm. Simulation and experiment research reveal that the new iterative algorithm presented has high precision of position control as well as faster convergence speed compared with the conventional feedforward compensation control.

关 键 词：超磁致伸缩 Preisach逆模型 自适应 前馈补偿 

分 类 号：TP211[自动化与计算机技术—检测技术与自动化装置]