压电驱动的快速刀具定位台自抗扰控制研究  

Research on active disturbance rejection control of fast tool positioning table based on piezoelectric drive

作　　者：胡高峰 逯俊体 HU Gaofeng;LU Junti(School of Mechanical Engineering,Tianjin University of Technology and Education,Tianjin 300222,CHN;Tianjin Key Laboratory of High Speed Cutting and Precision Machining,Tianjin 300222,CHN)

机构地区：[1]天津职业技术师范大学机械工程学院,天津300222 [2]天津市高速切削与精密加工重点实验室,天津300222

出　　处：《制造技术与机床》2024年第4期84-89,共6页Manufacturing Technology & Machine Tool

基　　金：天津市教委科研计划项目(2021KJ028);天津市研究生科研创新项目(2022SKYZ017)。

摘　　要：针对压电驱动器输入电压与输出位移的动态迟滞特性,采用基于Prandtl-Ishlinskii的压电动态迟滞模型,实现了对刀具定位台的精确控制。实验分别采用逆模型前馈补偿控制和自抗扰控制方法对定位台控制系统进行测试,结果表明在单频输入信号下,采用自抗扰控制算法的系统均方根误差较逆模型前馈控制下降了1.137~1.137 5μm;系统相对误差有明显下降。结论表明自抗扰控制成功减小了定位台的迟滞特性,提高了控制精度,较逆模型前馈补偿控制有更好的优越性。Aiming at the dynamic hysteresis characteristics of input voltage and output displacement of piezoelectric drivers,a piezoelectric dynamic hysteresis model based on Prandtl-Ishlinskii is used,for precise control of the tool positioning table.The results show that under the single-frequency input signal,the root mean square error of the system using the active disturbance rejection control algorithm is 1.137~1.1375μm lower than that of the inverse model feedforward control.The relative error of the system has decreased significantly.The results show that the active disturbance rejection control successfully reduces the hysteresis characteristics of the positioning station,improves the control accuracy,and has better advantages than the inverse model feed-forward compensation compensation control.

关 键 词：快速刀具定位台 Prandtl-Ishlinskii模型 跟踪控制 迟滞逆模型 自抗扰控制 

分 类 号：TH112[机械工程—机械设计及理论]