基于压电驱动器的微型智能弹药舵机系统及其控制策略  

Miniature intelligent ammunition steering gear system and its control strategy based on a piezoelectric actuator

作　　者：姚建均 刘凤琪 王佳奇 王超 张义臣 钱琛 YAO Jianjun;LIU Fengqi;WANG Jiaqi;WANG Chao;ZHANG Yichen;QIAN Chen(College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;Shanghai Aircraft Design and Research Institute, Shanghai 200135, China)

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]上海飞机设计研究院,上海200135

出　　处：《哈尔滨工程大学学报》2022年第3期414-420,共7页Journal of Harbin Engineering University

基　　金：黑龙江省自然科学基金项目(E2018019);中央高校基本科研业务费(3072020CF0704).

摘　　要：为满足智能弹药舵机系统的微型化、智能化,本文通过叠加压电双晶片的方法设计了一种压电驱动器,提高了其驱动能力;针对经典Bouc-Wen模型具有对称性的缺点,增加形状控制函数中的参数,提出具有非对称性的改进Bouc-Wen模型。采用粒子群算法辨识改进模型的参数,并通过仿真证明改进模型的非对称性。为补偿迟滞对系统精度的影响,设计一种基于改进Bouc-Wen逆模型的前馈-PI复合控制器。对压电双晶片的控制回路进行位移跟踪仿真试验,仿真结果表明:前馈-PI复合控制器将系统非线性度由10.6%降低至5.0%,可以有效地抑制迟滞非线性,提高系统的控制精度以及抵抗外界随机干扰的能力,满足微型智能弹药对舵机系统微型化、智能化的要求。To meet the miniaturization and intelligentization of an intelligent ammunition steering gear system,a new piezoelectric actuator was designed.This actuator improved the driving capability of the gear system by stacking piezoelectric bimorphs.By increasing the parameters of the shape control function,an improved Bouc-wen model with asymmetry was proposed for increasing the hysteresis nonlinearity of piezoelectric ceramics.Particle swarm optimization was used to identify the parameters in the model.The nonlinearity of the model was verified using simulation.A feedforward-PI composite controller based on the improved Bouc-Wen inverse model was designed to compensate for the influence of hysteresis on system accuracy.A displacement tracking simulation test was carried out.The result shows that the feedforward-PI compound controller can effectively reduce the hysteresis nonlinearity from 10.6%to 5.0%,which further can effectively restrain hysteresis nonlinearity and improve control accuracy and the ability to resist external random interference,meeting the miniature and intelligent requirements of the miniature intelligent ammunition for a steering gear system.

关 键 词：微型智能弹药 舵机系统 微型化 智能化 压电驱动器 BOUC-WEN模型 粒子群算法 压电双晶片 迟滞 前馈-PI复合控制 

分 类 号：TJ413[兵器科学与技术—火炮、自动武器与弹药工程]