压电微操作平台的复合控制
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TH703; TP274

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国家自然科学基金资助项目(51565016,51265016);江西省杰出青年人才计划资助项目(20171BCB23063);江西省自然科学基金资助项目(2017BAB206029);江西省教育厅科学技术研究资助项目(GJJ160612)


Compound Control for a Piezoelectric Micro-manipulation Stage
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    摘要:

    由于压电驱动器的迟滞现象会使微操作平台出现非线性问题,严重影响了其运动精度和重复定位精度。为了解决该问题,提出一种前馈补偿同反馈调节相结合的复合控制算法。联合离散Preisach模型与支持向量机建立反映平台迟滞现象的理论模型,基于该模型采用迭代搜索方法得到离散Preisach逆模型,根据该逆模型对平台进行前馈补偿。反馈调节采用比例-积分-微分(propotion-integral-derivative,简称PID)控制,以校正前馈补偿无法消除的偏差及由模型不确定性所引起的误差。为了说明所提出的控制方法的可行性,对复合控制、前馈控制和PID进行实验验证比较分析,实验结果表明,所提出的控制方法具有更好的控制精度和响应快速性。

    Abstract:

    The nonlinear characteristics of micro-manipulation stage may occurrs due to the hysteresis of piezoelectric actuator,which has seriously affected the motion precision and repeated positioning accuracy of the stage. In order to solve the problem,a compound control algorithm of feedforward compensation combined with feedback is proposed. The theoretical model reflecting the hysteresis phenomenon is established by combining discrete Preisach model and support vector machine. The inverse model of discrete Preisach is obtained by adopting the iterative search method based on the hysteresis model. The feedforward compensation of the stage is carried out based on the inverse model. In order to correct the deviation without eliminating by feedforward compensation and the error caused by the model’s uncertainty, proportion integration differentiation (PID) control is used to feedback regulation. In order to illustrate the feasibility of the proposed control method,an experimental comparative analysis of the composite control, feedforward control and PID control is carried out. The results show that the proposed method has better control accuracy and fast response.

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  • 在线发布日期: 2018-07-04
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