基于几何法求解PI逆模型参数
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摘要
压电陶瓷驱动的快速反射镜具有优良的动态性能,能够满足高精度定位的任务需求,但其固有的迟滞特性严重影响了其性能的进一步提高。基于PLAY算子的迟滞数学模型具有结构简单、便于数学求解、模型精度较高的优点,但模型参数需要通过系统辨识得到,并且其逆模型参数辨识存在物理量不易获得、误差较大的不利条件。利用几何法,提出了一种求解PI逆模型参数的算法。实验证明该算法动态性能好、模型精度较高,同时基于该算法的PI逆模型前馈控制较好地解决了压电陶瓷驱动的快反镜迟滞效应补偿问题。
Fast steering mirror powered by piezoelectric ceramic has fine dynamic performance and can meet the demand for high precision positioning in engineering but its hysteresis effect restricts the further performance development. The mathematical model of hysteresis character based on PLAY operator has the advantages of being simple in structure convenient for calculation and high precision of model. However the realization depends on parameter estimation precision and it's difficult to obtain the physical quantity with a high precision. An algorithm is proposed to work out the parameters of PI inverse model by using geometric method. Experimental results show that the algorithm has good dynamic performance and high precision of modeling and the algorithm based feed-forward control of PI inverse model can compensate well for the hysteresis effect of the fast steering mirror powered by piezoelectric ceramic.
Fast steering mirror powered by piezoelectric ceramic has fine dynamic performance and can meet the demand for high precision positioning in engineering but its hysteresis effect restricts the further performance development. The mathematical model of hysteresis character based on PLAY operator has the advantages of being simple in structure convenient for calculation and high precision of model. However the realization depends on parameter estimation precision and it's difficult to obtain the physical quantity with a high precision. An algorithm is proposed to work out the parameters of PI inverse model by using geometric method. Experimental results show that the algorithm has good dynamic performance and high precision of modeling and the algorithm based feed-forward control of PI inverse model can compensate well for the hysteresis effect of the fast steering mirror powered by piezoelectric ceramic.
引文
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[2]陶帅,白鸿柏,侯军芳,等.压电致动器系统迟滞特性分析及影响[J].科学技术与工程,2007,24(7):6427-6430.
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[9]方楚.光束指向控制设备中快速反射镜系统设计研究[D].长春:中国科学院长春光学精密机械与物理研究所,2017.
[10]江国栋,王晓东.基于PI逆模型的压电执行器复合控制[J].压电与声光2016,38(4):553-557.
[11]张丽敏,郭劲.快速反射镜双X-Y轴控制的仿真研究[J].光学精密工程,2008,13(s1):142-147.
[12]许晏铭.单探测器复合轴的跟踪技术研究[D].长春:长春理工大学,2014.
[2]陶帅,白鸿柏,侯军芳,等.压电致动器系统迟滞特性分析及影响[J].科学技术与工程,2007,24(7):6427-6430.
[3]范伟,余晓芬,奚琳.压电陶瓷驱动系统及控制方法研究[J].光学精密工程,2007,15(3):368-371.
[4]谭志波.压电陶瓷驱动器迟滞补偿方法研究[D].哈尔滨:哈尔滨工业大学,2008.
[5]王婉婷.基于高精度辨识的复合轴控制策略研究[D].长春:中国科学院长春光学精密机械与物理研究所,2016.
[6]张桂林,张承进,李康.基于PI迟滞模型的压电驱动器自适应辨识与逆控制[J].纳米技术与精密工程,2013,11(1):85-89.
[7] GU G YZHU L M. Modeling of rate-dependent hysteresis in piezoelectric actuators using a family of ellipses[J].Sensors and Actuators A:Physical2011165(2):303-309.
[8]朱炜.压电陶瓷叠堆执行器及其系统的迟滞现象模拟、线性化及控制方法的研究[D].重庆:重庆大学,2012.
[9]方楚.光束指向控制设备中快速反射镜系统设计研究[D].长春:中国科学院长春光学精密机械与物理研究所,2017.
[10]江国栋,王晓东.基于PI逆模型的压电执行器复合控制[J].压电与声光2016,38(4):553-557.
[11]张丽敏,郭劲.快速反射镜双X-Y轴控制的仿真研究[J].光学精密工程,2008,13(s1):142-147.
[12]许晏铭.单探测器复合轴的跟踪技术研究[D].长春:长春理工大学,2014.