压电平台高精度自适应分数阶滑模跟踪控制  

High-precision adaptive fractional order sliding mode tracking control for piezoelectric platform

作　　者：孙明超[1] 彭佳琦 宋悦铭[1] SUN Mingchao;PENG Jiaqi;SONG Yueming(State Key Laboratory of Dynamic Optical Imaging and Measurement,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Army Armaments Department,Changchun 130022,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所动态光学成像与测量全国重点实验室,吉林长春130033 [2]陆军装备部,吉林长春130022

出　　处：《光学精密工程》2024年第16期2504-2512,共9页Optics and Precision Engineering

基　　金：吉林省与中国科学院科技合作高新技术产业化专项项目(No.2024SYHZ0009)。

摘　　要：为了实现压电平台高精度指令跟踪控制,针对其存在的严重迟滞问题,本文提出了一种自适应分数阶滑模跟踪控制方法。首先,根据Duhem模型结构将分数阶算子和自适应律引入到滑模面的设计过程中,增加滑模面的自由度可变性并实现了滑模面参数的自适应调节;其次,利用不确定和干扰估计方法代替传统的滑模控制器切换项,解决了滑模控制器存在的抖振问题并提高了控制器的鲁棒性。最后,通过压电平台指令跟踪控制实验结果表明:相较于PID和传统的滑模控制方法,提出的自适应分数阶滑模控制器的指令跟踪误差减小了80%以上,在50 Hz参考指令信号下自适应分数阶滑模控制器将压电平台的平均跟踪误差降低到0.41μm。因此,自适应分数阶滑模控制方法具有更加优越的跟踪性能。To realize the high-precision command tracking control of the piezoelectric platform,an adaptive fractional order sliding mode tracking control method was proposed in this paper to address the serious hysteresis problems.At first,the fractional order operator and adaptive law based on the Duhem model were introduced into the design of the sliding mode surface.It increased the degree of freedom variability of the sliding mode surface and achieved the adaptive adjustment of parameters.Next,an uncertainty and disturbance estimation technique was proposed to replace the traditional switching term of the sliding mode controller,which solved the chattering problem of the sliding mode controller and improved its robustness.Finally,the experimental results of the command tracking control of the piezoelectric platform show that compared with traditional PID and sliding mode control method,the tracking error of the adaptive fractional order sliding mode controller has decreased by more than 80%,and the root mean square tracking error of the piezoelectric platform based on adaptive fractional order sliding mode controller is reduced to 0.41μm under the reference command signal at 50 Hz.Therefore,the adaptive fractional order sliding mode controller has more superior tracking performance.

关 键 词：压电平台 迟滞非线性 自适应控制 分数阶 滑模控制 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]