超磁致伸缩致动器系统时滞模型辨识与控制

针对超磁致伸缩致动器模型建立和精确位移控制存在的不足,推导了超磁致伸缩致动器系统带有时滞特性的线性化模型,把Levy法和遗传算法相结合,对推导的模型进行了辨识,通过开环实验验证了模型的准确性和稳定性;针对致动器系统准静态控制,提出了一种基于单纯形法的PID控制参数两步整定法。实验结果表明,利用该方法设计的PID控制器相对于传统PID控制,系统的超调量降低了17.69%,调节时间缩短了4ms,验证了控制器的精度和稳定性。

Control and system identification of giant magnetostrictive actuator with time delay

In order to improve the precision of giant magnetostrictve actuator (GMA) modelling and its position control, a linear model of GMA is established with time delay. The model is identified using Levy and modified generic algorithm. Its effectiveness is valid through a series of open loop tests. A two-stage method based on simplex method is proposed to tune the PID parameters in static control. The test results indicates that the proposed method reduces the overshoot of system by 17.69%, the adjusting time is shorten for 4 ms, therefore the precision and stability of the controller is verified.