| 引用本文: | 王贞艳,张臻,周克敏,毛剑琴.压电作动器的动态迟滞建模与H∞鲁棒控制[J].控制理论与应用,2014,31(1):35~41.[点击复制] |
| WANG Zhen-yan,ZHANG Zhen,ZHOU Ke-min,MAO Jian-qin.Dynamic hysteresis modeling and H-infinity robust control of piezoelectric actuators[J].Control Theory and Technology,2014,31(1):35~41.[点击复制] |
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| 压电作动器的动态迟滞建模与H∞鲁棒控制 |
| Dynamic hysteresis modeling and H-infinity robust control of piezoelectric actuators |
| 摘要点击 3484 全文点击 2622 投稿时间：2013-01-16 修订日期：2013-06-25 |
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| DOI编号 10.7641/CTA.2014.30053 |
| 2014,31(1):35-41 |
| 中文关键词 压电作动器 迟滞非线性 建模 Bouc-Wen模型 鲁棒控制 |
| 英文关键词 piezoelectric actuator hysteresis nonlinearity modeling Bouc-Wen model robust control |
| 基金项目 国家自然科学基金重点资助项目(91016006, 91116002); 中央高校基本科研业务费专项资金资助项目(30420111109, 30420120305, SWJTU11ZT06); 新能源电力系统国家重点实验室开放课题资助项目(LAPS13019). |
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| 中文摘要 |
| 压电作动器具有率相关动态迟滞非线性特性, 给传统建模和控制技术提出了挑战. 本文针对压电作动器, 提出
了一种基于Bouc-Wen的Hammerstein率相关迟滞非线性模型, 其中Bouc-Wen模型和线性动态模块分别用于描述系统
的静态迟滞非线性特性和率相关特性. 同时, 构造了一个基于Bouc-Wen模型的迟滞补偿器, 将迟滞补偿器与被控对象
串联使系统线性化; 并建立了不确定性系统模型, 提出了一种H1鲁棒跟踪控制方案, 可以实现给定频率范围内单频率
和复合频率参考信号的良好跟踪. 实验结果表明, 所建动态模型具有良好的泛化能力, 跟踪控制相对误差小于8%, 证明
了所提出方法的有效性. |
| 英文摘要 |
| Piezoelectric actuators (PEAs) have rate-dependent hysteretic nonlinearities, which pose challenges to the
traditional modeling and control techniques. A Hammerstein-based rate-dependent hysteresis model with a Bouc-Wen
nonlinearity is proposed in this paper for the piezoelectric actuators. The Bouc-Wen model and a linear dynamic block
are used to describe the static hysteresis nonlinearity and rate-dependent properties, respectively. Further, a hysteretic
compensator based on the Bouc-Wen model is constructed and connected in cascade with the plant to linearize the system.
Next, an uncertainty system model is built and a H-infinity robust control scheme is proposed to track the reference signals
with either single frequencies or compound frequencies in the given frequency range. Experimental results show that the
dynamic model proposed has good generalization ability and the encouraging tracking performances have been achieved
with the relative error less than 8%. |
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