力矩促动器的迟滞非线性建模校正  

Modeling and Correction for the Hysteresis Nonlinearity of Warping Harness

作　　者：刘攀登 杜福嘉[1,2] 宫雪非[1,2] LIU Pan-deng;DU Fu-jia;GONG Xue-fei(National Astronomical Observatories/Nanjing Institute of Astronomical Optics&Technology,Chinese Academy of Sciences,Jiangsu Nanjing 210042,China;CAS Key Laboratory of Astronomical Optics&Technology,Nanjing Institute of Astronomical Optics&Technology,Jiangsu Nanjing 210042,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院国家天文台南京天文光学技术研究所,江苏南京210042 [2]中国科学院天文光学技术重点实验室(南京天文光学技术研究所),江苏南京210042 [3]中国科学院大学,北京100049

出　　处：《机械设计与制造》2022年第11期164-168,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(11873014 U1831111);江苏省自然科学基金资助项目(BK20181507)。

摘　　要：力矩促动器的迟滞非线性降低了系统的控制精度。为了解决该问题,建立了可以精确描述该迟滞现象的模型并提出了合理的补偿控制方案。首先,根据迟滞曲线的非中心对称的特性,基于Prandtl-Ishlinskii模型对力矩促动器的迟滞非线性进行分段建模,并采用LMS算法进行模型参数的优化辨识,模型预测误差的RMS值为0.08111N。然后,通过PI模型的解析逆模型进行补偿控制。实验结果表明,采用逆模型补偿后,力矩促动器输出力误差的RMS值从1.888N降低到0.2596N,误差的方均根值降低了86.25%,有效保证了系统的控制精度。The hysteresis nonlinearity of warping harness reduces the control accuracy of the system.In order to solve this problem,building a model which can accurately describe the hysteresis phenomenon and proposing a reasonable compensation control scheme.First of all,according to the non-central symmetry characteristic of the hysteresis curve,based on Prandtl-Ishlinskii model,the hysteresis nonlinear of the warping harness is modeled in sections,and LMS algorithm is used to identify the model parameters.The RMS value of the model prediction error is 0.08111N.And then the analytical inverse of PI model is used to compensate the control.The experimental results show that the RMS value of output force error for warping harness decreases from 1.888N to 0.2596N,so the RMS of error is reduced by 86.25%,which effectively ensure the control accuracy of the system.

关 键 词：力矩促动器 迟滞非线性 PI模型 逆模型 补偿控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP29[自动化与计算机技术—检测技术与自动化装置]