共查询到20条相似文献,搜索用时 46 毫秒
1.
Adaptive sliding mode control of a piezo-actuated bilateral teleoperated micromanipulation system 总被引:1,自引:0,他引:1
Mohammad Motamedi Mohammad Taghi AhmadianGholamreza Vossoughi Seyed Mehdi RezaeiMohammad Zareinejad 《Precision Engineering》2011,35(2):309-317
Piezoelectric actuators are widely used in micro manipulation applications. However, hysteresis nonlinearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as the slave manipulator of a teleoperation system based on a sliding mode controller. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. The presented approach requires full state and force measurements at both the master and slave sides. Such a system is costly and also difficult to implement. Therefore, sliding mode unknown input observer (UIO) is proposed for full state and force estimations. Furthermore, the effects of uncertainties in the constant parameters on the estimated external forces should be eliminated. So, a robust adaptive controller is proposed and its stability is guaranteed through the Lyapunov criterion. Performance of the proposed control architecture is verified through experiments. 相似文献
2.
Hamed Ghafarirad Seyed Mehdi Rezaei Amir AbdullahMohammad Zareinejad Mozafar Saadat 《Precision Engineering》2011,35(2):271-281
Control of piezoelectric actuators is under the effects of hysteresis that could affect actuators micropositioning accuracy. In this paper a modified Prandtl-Ishlinskii (PI) operator and its inverse is utilized for both identification and real time compensation of the hysteresis effect. As a result, the actuator dynamic model would be transformed to the second order linear dynamic model. Considering the parametric uncertainties, PI estimation error and probably unmodeled dynamics, a variable structure controller coupled with adaptive perturbation estimation is proposed for trajectory tracking of the piezoelectric position. Considering the very noisy output of the actuator, a high-gain observer would estimate full states from the only measurable position trajectory. The stability of the controller in the presence of the estimated state is demonstrated with the Lyapunov criterion. Comparing to the widely used proportional-integral controller, the experimental results depicts that the proposed approach is greatly achieved in precisely tracking of multiple frequency trajectories. 相似文献
3.
4.
In this paper, output feedback integral control of piezoelectric actuators is considered with respect to the hysteresis effect. The linear dynamics of the piezoelectric actuator is modeled as a linear state space system with an input nonlinearity that considers the hysteresis effect. A proof of the Lyapunov stability of the system with integral control is presented, and a method for deriving the upper bound for the regulating gain is shown. A simple example is used to illustrate the approach, and then the approach is applied for tracking a step signal with an experimental single-axis piezoelectric actuator to verify that the system is stable. 相似文献
5.
压电驱动器被广泛应用于扫描隧道显微镜(scanning tunneling microscope,简称STM)的扫描器,但压电材料本身的迟滞非线性特性影响了STM的扫描精度。为了补偿由于迟滞非线性带来的扫描器控制误差,提高STM的扫描精度,基于迟滞非线性模型,设计了前馈控制器,并与PID反馈控制相结合。利用所设计的控制器进行了扫描实验,并与位移反馈控制扫描进行对比。实验结果表明,采用位移反馈控制时光栅周期相对测量误差和光栅线宽相对测量误差分别为4.41%和2.65%,采用迟滞逆模型与PID反馈的复合控制后,光栅周期相对测量误差和光栅线宽相对测量误差分别减小到1.26%和0.27%,迟滞引起的非线性误差得到了补偿,减小了扫描器控制误差,提高了扫描精度。 相似文献
6.
压电陶瓷执行器的迟滞特性会降低星间激光通信精瞄系统的定位精度,对信标光的捕获以及链路的稳定性造成影响。针对这一问题,通过分析压电陶瓷执行器迟滞特性产生机理,提出一种基于PLAY迟滞算子的改进(Prandtl-Ishlinskii,PI)数学模型及其辨识方法,并利用该模型对压电陶瓷执行器迟滞特性进行前馈线性化逆补偿。并通过实验来验证数学模型和线性化的有效性,实验结果表明,通过对系统输入不同频率下等幅和减幅正弦控制信号来验证前馈逆补偿性能时,改进的模型最大拟合误差均在1%之内,通过前馈模型逆补偿的控制方法可使压电陶瓷驱动的线性度误差由5%减小到1%以内,并且改进PI模型在计算复杂度上由O(n)简化为O(1)。 相似文献
7.
为提高空间天文望远镜稳像系统中压电快摆镜(Fast Steering Mirror,FSM)的动态性能,对压电执行器(Piezoelectric Actuator,PZT)动态迟滞补偿和控制进行研究。鉴于基于广义Play算子Prandtl-Ishlinskii(PI)模型的求逆复杂性和迟滞曲线的非对称性,构造一种基于广义Stop算子PI逆模型来补偿压电执行器迟滞非线性。采用Hammerstein模型对压电执行器动态迟滞特性进行建模,以广义PI模型和自回归遍历模型(Auto-regressive Exogenous Model,ARX)分别表征Hammerstein迟滞模型中的静态非线性和率相关性,并针对迟滞率相关模型不确定性问题,提出一种前馈补偿和线性二次型Gauss最优控制算法(Linear Quadratic Gaussian,LQG)相结合的复合控制策略。利用自适应差分进化算法(Adaptive Differential Evolution algorithm,ADE)辨识和整定模型及控制器参数。实验结果表明:该动态迟滞模型能够有效描述1~100Hz频率范围内压电执行器迟滞曲线,拟合均方根误差为0.077 1μm(@1 Hz)~0.512 3μm(@100Hz),相对误差为0.31%(@1Hz)~2.09%(@100Hz);实时跟踪幅值为24.5μm的变频目标位移,LQG控制算法的跟踪精度相比于直接前馈控制和PID控制分别提高48.6%和27.02%。 相似文献
8.
为了有效补偿压电陶瓷的迟滞非线性,提出了基于STOP算子的改进PI模型以改善传统基于PLAY算子的PI模型解析求逆的复杂过程以及通过插值算法求逆的大量耗时。介绍了传统的基于PLAY算子和基于STOP算子的PI模型,然后基于STOP算子的叠加形式建立了以预期位移为输入,以控制电压为输出的PI模型,并将这一模型直接作为前馈控制器补偿压电陶瓷的迟滞效应。为了更好地平衡全局寻优与局部寻优能力,对粒子群优化算法进行了改进,利用其辨识出各算子的权值。最后,利用实验的方法验证了改进的PI模型对迟滞非线性的补偿效果。进行了两组实验测试,结果显示:无论对于规律变化还是随机变化的输入,提出的改进PI模型都可以很好补偿迟滞非线性,跟踪误差可控制在1%以内。因此,基于STOP算子的改进PI模型在压电陶瓷控制领域中具有很好的实用价值。 相似文献
9.
The aim of this paper is to increase the performance of hysteresis compensation for Shape Memory Alloy (SMA) actuators by
using inverse Preisach model in closed — loop control system. This is used to reduce hysteresis effects and improve accuracy
for the displacement of SMA actuators. Firstly, hysteresis is identified by numerical Preisach model implementation. The geometrical
interpretation from first order transition curves is used for hysteresis modeling. Secondly, the inverse Preisach model is
formulated and incorporated in closed-loop PID control system in order to obtain desired current-to-displacement relationship
with hysteresis reducing. The experimental results for hysteresis compensation by using this method are also shown in this
paper. 相似文献
10.
11.
This work proposes a novel method for describing the hysteretic non-linearity of a piezoelectric actuator. The hysteresis behavior of piezoelectric actuators, including the minor loop trajectory and the residual displacement near zero input, are modeled by a set of hysteresis operators, including a gain and an input-dependent lag, as well as the parameter scheduling method. A hysteresis model, using the identified parameters, and containing only the dominant hysteresis operator, is presented herein. Based upon a simplified hysteresis model, tracking is controlled to reduce the non-linear effects in the characteristics of the piezoelectric actuator. A proportional-integral (PI) controller, with inverse model feed-forward, suppresses the tracking error to within ±1% full span range (FSR) of the actuator, noticeably improving the tracking performance of the piezoelectric actuator. 相似文献
12.
Precision tracking control of a piezoelectric-actuated system 总被引:4,自引:1,他引:3
In this paper, precision tracking control of piezoelectric-actuated systems is discussed. In order to obtain precision tracking control, a modified Prandtl–Ishlinskii (MPI) model is used to model the hysteresis nonlinearity. Then, the inverse MPI model is used to reduce the hysteresis nonlinearity, and a sliding-mode controller is used to compensate for the remaining nonlinear uncertainty and disturbances. In general, the piezoelectric-actuated system can be modeled as a linear model coupled with a hysteresis. When the linear model is identified, it is used to design the sliding-mode controller. Finally, this design method is applied to the motion control of a nano-stage, and experimental results are presented to verify the usefulness of this method. 相似文献
13.
针对超磁致伸缩致动器(GMA)在精密致动控制中存在的迟滞和位移非线性,提出了小脑神经网络(CMAC)前馈逆补偿结合模糊PID控制的新策略。通过小脑神经网络(CMAC)学习获得超磁致伸缩致动器动态逆模型用于对超磁致伸缩致动器迟滞非线性进行补偿;利用模糊PID控制降低小脑神经网络(CMAC)学习时的误差和抑制扰动,提高系统的跟踪控制性能,从而实现超磁致伸缩致动器的精密致动控制。仿真和实验结果表明:所采用的控制策略有效地消除了迟滞非线性的影响,系统的跟踪误差降低到了5%以下,而位移跟踪误差均方差仅为0.58。此外,这种策略的特点是学习和控制同时进行,控制系统能够适应被控对象动态特性的变化,使系统具有较强的鲁棒性,同时也能够有效地抑制外界的干扰,提升系统的自适应控制性能。 相似文献
14.
In this paper, a novel rate-dependent Prandtl-Ishlinskii (P-I) model is proposed to characterize the rate-dependent hysteresis nonlinearity of piezoelectric actuators. The new model is based on a modified rate-dependent play operator, in which a dynamic envelope function is introduced to replace the input function of the classical play operator. Moreover, a dynamic density function is utilized in the proposed P-I model. The parameters of the proposed model are identified by a modified particle swarm optimization algorithm. Finally, experiments are conducted on a piezo-actuated nanopositioning stage to validate the proposed P-I model under the sinusoidal inputs. The experimental results show that the developed rate-dependent P-I model precisely characterize the rate-dependent hysteresis loops up to 1000 Hz. 相似文献
15.
提出了逆Bouc-Wen前馈控制与反馈控制相结合的复合控制算法,用于改善压电陶瓷驱动器对目标轨迹的跟踪性能。建立了压电陶瓷驱动器的Bouc-Wen迟滞动力学模型,并用粒子群算法(PSO)对该模型的参数进行识别。基于Bouc-Wen迟滞模型,提出了逆Bouc-Wen前馈补偿控制。最后,为消除迟滞模型的不确定性,引入比例积分(PI)反馈控制,并与前馈补偿控制构成复合控制算法。建立了基于dSPACE实时系统的压电陶瓷驱动实验平台,迟滞实验结果表明:压电陶瓷的迟滞误差量几乎为0,线性度高达96.5%;目标轨迹跟踪实验结果表明:复合控制算法的最大跟踪误差为0.180 5μm,均方根(RMS-Root mean square)跟踪误差为0.055 4μm,跟踪精度达到了10-8 m。相比于开环控制、前馈控制及PI反馈控制,提出的复合控制算法能够基本消除压电陶瓷的迟滞非线性,同时具有很好的轨迹跟踪性能。 相似文献
16.
BEN MRAD Ridha 《机械工程学报(英文版)》2007,20(4):84-87
A novel active vibration control technique on the basis of linearized piezoelectric actuators is presented.An experimental apparatus consisting of a cantilever beam to which are attached strain patches and piezocoramic actuators to be used for active vibration suppression is described.A dy- namical model of the cantilever beam using Lagrange's equation and two coordinate systems are presented.Based on the Lyapunov's direct method,an active vibration controller with hysteresis compensation is designed.The controller is designed so that it guarantees the global stability of the overall system.The controller developed is assessed experimentally. 相似文献
17.
针对超磁致伸缩驱动器(GMA)存在复杂的磁滞非线性易降低系统性能,导致系统不稳定的问题,建立了可以精确描述磁滞现象的模型并提出了合适的驱动控制方法。首先,基于Prandtl-Ishlinskii(PI)模型对GMA磁滞建模,并采用最小均方法(LMS)进行模型参数辨识,模型预测误差为0.037 9 μm。接着,通过对PI模型解析求逆进行实时补偿控制,从而有效减小磁滞误差,补偿控制误差为0.309 μm。实验结果证明,PI模型可以精确描述GMA磁滞现象,且具有计算简单,磁滞跟踪能力强的优点。基于该模型的实时磁滞补偿控制方法可以有效减小磁滞误差,提高GMA实时驱动定位控制精度,是实现GMA精密驱动控制的一种有效方法。 相似文献
18.
The hysteresis of piezoelectric actuators (PAs) possesses the asymmetrical and frequency-dependent characteristics. In order to accurately model the hysteresis of a PA, an asymmetrical Bouc–Wen model is proposed and established in this paper. The recursive least-squares online identification method is used to real-time identify the parameters of the proposed model. Meanwhile, in order to avoid the data saturation phenomenon, the limited memory method is used to limit the number of the data sets. The experimental system is setup and the performance of this method is experimentally verified. Experimental results show that the proposed online identification method can effectively improve the modeling accuracy. 相似文献
19.
Van Phu Do Phi Luan Nguyen Byung Ryong Lee 《Journal of Mechanical Science and Technology》2014,28(3):1055-1063
This paper describes a new, modified generalized Preisach model for actuators that have severe dead-zone hysteresis, which is mainly observed in rotary SMA actuators. Along with the Preisach model, a new approach of hysteresis modeling and parameter identification using genetic algorithm was proposed. This modeling method achieved significant improvements in both accuracy and computation time. The proposed approach is general; therefore, it can be applied to identify any type of hysteresis. To demonstrate the efficiency of the proposed model, experimental results on hysteresis identification of Rotary SMA Actuator and performance of inverse hysteresis openloop controller are provided and compared. 相似文献