压电纤维致动器的率相关偏置迟滞建模及补偿  

Dynamic Modeling and Feedforward Compensation of the Rate-Dependent Bipolar Bias Hysteresis Nonlinearity of Marco Fiber Composites Actuators

作　　者：杨浩 娄军强[1,2] 杨依领 陈特欢 陈海荣 魏燕定[2] YANG Hao;LOU Junqiang;YANG Yiling;CHEN Tehuan;CHEN Hairong;WEI Yanding(College of Mechanical Engineering and Mechanics,Ningbo University Ningbo,315211,China;Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province,Zhejiang University Hangzhou,310027,China)

机构地区：[1]宁波大学机械工程与力学学院,宁波315211 [2]浙江大学浙江省先进制造技术重点研究实验室,杭州310027

出　　处：《振动．测试与诊断》2023年第3期531-538,622,共9页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(51975517,51805276);浙江省自然科学基金资助项目(LY20E050007);浙江省省属高校基本科研业务费专项资金资助项目(SJLY2021014);宁波市自然科学基金资助项目(2019A610112)。

摘　　要：为了克服传统压电陶瓷韧性不足,利用压电宏纤维(macro fiber composite,简称MFC)换能效率高且变形能力强的优点,提出了一种MFC致动的柔性结构,建立了描述MFC动态偏置迟滞非线性的率相关双极性偏置PI(rate-dependent bipolar bias PI,简称RDBBPI)迟滞模型,并进行了前馈补偿控制研究。首先,针对MFC致动柔性结构的静态偏置迟滞特性,利用Prandtl-Ishlinskii(PI)模型描述系统的对称迟滞特性,并通过叠加死区算子来捕捉其双极性偏置特性,建立了MFC致动器的静态双极性偏置PI(bipolar bias PI,简称BBPI)模型;其次,确立迟滞环斜率与驱动信号速率之间的线性关系,得到描述MFC致动器动态迟滞特性的RDBBPI模型;最后,进行了实验验证。实验结果表明:所提出的RDBBPI模型能够很好地捕捉不同频率下MFC致动柔性结构的动态迟滞特性;在基于RDBBPI模型的前馈补偿下,MFC致动柔性梁构件的实测振动位移与期望跟踪位移基本重合,补偿后结构实测位移与期望轨迹之间的线性度误差为4.62%,证实了所提RDBBPI模型对MFC致动器驱动控制和位移跟踪精度的改善效果。Compared to conventional piezoceramics,marco fiber composites(MFC)offers excellent advantages of high deformation abilities and energy transducing efficiencies.MFC actuators have been widely used in defor-mation control and bionic actuation of flexible structures.A rate-dependent bipolar bias PI(RDBBPI)hysteresis model is presented to describe the dynamic hysteresis nonlinearity of MFC actuators,and feedforward compensa-tion control based on the proposed RDBBPI model is also conducted.The classical PI model is used to describe the symmetric hysteresis behavior of the MFC-actuated flexile structure.A series of dead-zone operators is super-posed to the PI model to capture the bipolar bias nonlinearity.Accordingly,a quasi-static bipolar bias PI hystere-sis model is presented.Then,the linear relationship between slope of the hysteresis loop and velocity of the driv-ing voltage is established.The RDBBPI hysteresis model for the dynamic hysteresis of MFC actuators is ob-tained.Experimental results show that the proposed RDBBPI model is capable of describing the dynamic hystere-sis behavior of the MFC-actuated flexible structure,under different actuation frequencies.With the compensated controller based on the RDBBPI model,measured vibration displacements of the flexible structure match well with the desired tracking trajectories.The compensated linearity error between the actual trajectory and the de-sired one is only 4.62%.Therefore,the feasibilities of the proposed RDBBPI hysteresis model and feedforward compensation method are demonstrated.

关 键 词：压电宏纤维致动器 动态迟滞非线性 率相关 双极性偏置 前馈补偿 

分 类 号：TH113.1[机械工程—机械设计及理论] TP273[自动化与计算机技术—检测技术与自动化装置]