Hybrid control based on inverse Prandtl-Ishlinskii model for magnetic shape memory alloy actuator  

作　　者：周淼磊 高巍 田彦涛 

机构地区：[1]Department of Control Science and Engineering,Jilin University

出　　处：《Journal of Central South University》2013年第5期1214-1220,共7页中南大学学报（英文版）

基　　金：Project(51105170) supported by the National Natural Science Foundation of China;Project supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education,China

摘　　要：The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts： a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.

关 键 词：magnetic shape memory alloy HYSTERESIS hybrid control Prandtl-Ishlinskii model neural network 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]