| 压电陶瓷驱动器的建模分析与自适应逆控制 |
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| 引用本文： | 曲东升,孙立宁,丁庆勇. 压电陶瓷驱动器的建模分析与自适应逆控制[J]. 机器人, 2001, 0(Z1) |
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| 作者姓名： | 曲东升 孙立宁 丁庆勇 |
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| 作者单位： | 哈尔滨工业大学机器人研究所 150001 |
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| 基金项目： | 哈尔滨工业大学校基金资助项目 (HIT.2 0 0 0、64 ) |
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| 摘 要： | 压电陶瓷驱动器的迟滞特性可用 Prandtl- Ishlinskii启动模型 (PIOP)描述 ,基于此本文提出一种自适应逆控制方案 .对象和逆控制器分别由一个 Prandtl- Ishlinskii停止模型 (PIOS)表示 ,应用稳定的归一化修正梯度算法 ,进行权值在线更新并收敛于驱动器逆模型实际值 .以降低非线性导致的控制误差提高控制品质
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| 关 键 词： | 压电陶瓷驱动器 迟滞模型 自适应逆控制 |
MODEL ANALYSING AND ADAPTIVE INVERSE CONTROL OF PIEZOELECTRIC ACTUATOR |
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| QU Dong sheng SUN Li ning DING Qing yong. MODEL ANALYSING AND ADAPTIVE INVERSE CONTROL OF PIEZOELECTRIC ACTUATOR[J]. Robot, 2001, 0(Z1) |
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| Authors: | QU Dong sheng SUN Li ning DING Qing yong |
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| Affiliation: | The Institute of Robot Research of H.I.T. 150001 |
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| Abstract: | An adaptive inverse control method was purposed by using Prandtl Ishlinskii operator of play type (PIOP) to describe the hysteretic transfer characteristic of piezoelectric actuator. Prandtl Ishlinskii operators of stop type (PIOS) were used to describe both the plant and the inverse controller. A stable normalized modified grads algorithm was developed for on line weights learning. And weights tend asymptotically to weights of real inverse model. As a result control error caused by nonlinear characteristic was decreased and quality of controller was improved. |
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| Keywords: | piezoelectric actuator hysteretic model adaptive inverse control |
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