压电驱动器系统的控制设计  

Control design for piezoelectric actuator systems

作　　者：王毅[1] 何朕[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2016年第5期96-102,共7页Electric Machines and Control

基　　金：国家自然科学基金委创新研究群体科学基金(61021002);国家自然科学基金(61174203;60374027);863计划(2015AA7011009)

摘　　要：针对压电伺服系统中执行机构的应用特点,分析指出压电超声马达不适宜用作高精度伺服系统中的执行机构,而是应该采用压电堆驱动的执行机构。对于压电堆驱动器的迟滞特性,提出采用便于进行仿真研究的Bouc-Wen迟滞模型,用Bouc-Wen模型分析了压电堆驱动器的非线性迟滞特性和它的补偿问题。提出了采用基于负反馈原理的扰动观测器来补偿迟滞,进一步分析了具有迟滞特性的压电伺服系统的自振荡问题,并与齿隙滞环引起的自振荡进行了比较,指出带压电滞环反馈的系统中是不会出现自振荡的。基于上述分析,提出了一种压电伺服系统的设计指导,并给出了仿真结果。Considering with the application specifics of the piezoelectric servo system,the piezoelectric ul-trasonic motor is not appropriate for use as an actuator for high precision servo systems,and a piezoelectric stack structure was proposed for the system actuator.The Bouc-Wen model of hysteresis was proposed for modeling the hysteresis characteristic of the piezoelectric stack actuator.This model is more suitable for simulation studies.The nonlinear characteristic of hysteresis of the piezoelectric actuator was then ana-lyzed based on the Bouc-Wen model.The compensation of the nonlinear hysteresis was also discussed.A feedback-based disturbance observer for hysteresis compensation was then proposed.The self-sustained os-cillation problem for servo systems with piezoelectric hysteresis was further analyzed.The limit cycles caused by the hysteresis effect of backlash was also studied for comparison.It is pointed out that self-sus-tained oscillations cannot appear at all in a system with piezoelectric hysteresis in feedback.Based on the above analysis,a design guide for the piezoelectric servo system was proposed,and the simulation result was also presented.

关 键 词：压电驱动器 超声马达 迟滞特性 齿隙 补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]