线性压电马达驱动系统的摩擦补偿控制研究  

Friction compensation control for linear piezoelectric ceramic motor driving system

作　　者：李先峰[1,2,3] 高慧斌 郭旭[1,2] 张军强[1,3] LI Xian-feng;GAO Hui-bin;GUO Xu;ZHANG Jun-qiang(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Science,Changchun 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China;Yusense Information Technology and Equipment(Qingdao)Inc.,Qingdao 266000,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院大学,北京100049 [3]长光禹辰信息技术与装备(青岛)有限公司,山东青岛266000

出　　处：《电机与控制学报》2019年第11期135-142,共8页Electric Machines and Control

基　　金：国家重点研发计划(2016YFC0803000);吉林省科技发展计划重点科技研发项目(20180201012GX)

摘　　要：线性压电马达(LPCM)作为执行元件,自身明显的摩擦机理会降低系统跟踪精度,限制了它在光电跟踪领域的应用。为了克服该问题,结合线性压电马达驱动的某光电跟踪转台具体方案,针对马达摩擦驱动的原理进行分析。基于广义的Maxwell滑动(GMS)模型建立系统的摩擦模型,并分别针对滑动阶段和预滑阶段的相关模型进行参数辨识和模型校验。在控制系统中进一步设计引入摩擦前馈补偿环节,通过样机试验结果显示,对于幅值为0. 174 rad、频率为0. 159 Hz的等效正弦引导,在传统控制策略基础上结合采用的摩擦前馈补偿方法,系统位置跟踪均方根(RMS)误差值仅15μrad,相比Coulomb摩擦前馈补偿的控制方法提高了42. 3%,且误差尖峰削弱明显,减少了73. 8%。满足光电跟踪实际应用中对线性压电马达驱动系统的要求。The linear piezoelectric ceramic motor(LPCM)is one kind of actuators.The large tracking error was induced by the friction principle of LPCM,which is used in the photonics tracking control field.It is compensated by the friction model feedforward approach.Firstly,the driving scheme for LPCM was introduced,which is constricted by strict size and weight in special photoelectric detect application.Then,motor friction force was analyzed according to friction driving principle,friction model based on the generalized Maxwell-slip(GMS)was presented,and the parameters in pre-sliding regime and gross sliding regime were identified through the special experiments.Then,it is also necessary for model validation.After that,control system was modeling,friction compensation was added into the controller.Finally,the experiment results demonstrate that when the prototype run in the mode of sine guide,the amplitude is 0.174 rad and frequency is 0.159 Hz.The position tracking root mean square(RMS)error is 15μrad,less than 42.3%compared with Coulomb friction feedforward compensation.The error spikes are obviously weakened,even reduced by 73.8%.Using classical control algorithm with friction feedforward compensation mentioned.The drive control system meets the need of performance.Based on above research,it suggests that linear piezoelectric ceramic motor can be used in the field of photonics detection and so on.

关 键 词：光电跟踪控制 线性压电马达 系统辨识 摩擦补偿 广义Maxwell滑动模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]