基于迟滞观测器的压电堆补偿控制  

Compensation control for piezoelectric stack based on a hysteretic observer

作　　者：胡佳明 朱晓锦[1] 方昱斌 高志远[1] 苗中华[1] HU Jiaming;ZHU Xiaojin;FANG Yubin;GAO Zhiyuan;MIAO Zhonghua(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《振动与冲击》2021年第4期81-86,129,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51575328)。

摘　　要：压电堆具有反应速度快、能量密度高等特点被广泛应用于精密仪器的作动装置。然而,压电堆输出位移与驱动电压之间存在的迟滞效应会严重影响控制精度。为了补偿迟滞效应带来的影响,提升控制效果,提出了一种基于滑模变结构理论的类Luenberger迟滞观测器,观测器的设计不仅考虑到了模型中的不确定因素,还可在一定程度上减小外部扰动带来的影响。根据反步滑模控制理论设计了一个基于迟滞补偿系统的跟踪控制器,控制器在设计过程中考虑到了观测器的迟滞补偿误差,且具有一定的鲁棒性。通过仿真及试验验证,证明了所设计的控制系统能够良好地对压电堆实施跟踪控制,且控制效果优于传统控制器。Piezoelectric stack is usually used as actuator mechanism for precise instruments in practical engineering.Nevertheless,hysteretic effect which is carried by piezoelectric materials can degrade the control performance dramatically.For improving control precision,the problem of robust tracking control for piezoelectric actuators(PEAs)was investigated in this paper.First,in order to compensate the hysteretic effect,a new observer was proposed.The design of the observer has considered the uncertainties and the exogenous disturbance in the PEAs system.By utilizing the Laypunov function and the linear matrix inequalities(LMIs)technique,the observers can asymptotically estimate the hysteretic output with H∞performance.Second,a fault-tolerant controller based on the back-stepping control theory was established.The design of the controller has considered the observation error,and it has certain robustness.At last,simulation and experiment were carried out to verify the effectiveness of the proposed methods.

关 键 词：压电作动器 迟滞观测器 BOUC-WEN模型 鲁棒控制 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3