第6期
第19卷 2011年6月
文章编号
1004-924X(2011)06-1281-10
光学精密工程
Optics and Precision Engineering
Vol, 19No.6 Jun.2011
压电陶瓷执行器迟滞的滑模逆补偿控制
赖志林1*，刘向东"，耿洁，李黎2
（1.北京理工大学自动化学院，北京100081；2.航天东方红卫星有限公司，北京100080）
摘要：为了降低迟滞特性对压电陶瓷执行器的影响，研究了基于Preisach逆补偿的滑模控制策略。首先，利用分类排序方法在控制平台上实现了滞的Preisach逆模型+然后，将其申联到压电陶瓷执行器前用于抵消迟滞非线性。考虑到迟滞逆补偿的非完全抵消、模型参数的不确定性以及扰动等间题，设计了一种分段边界层滑模控制律，最后，为了验证所
，实验结果表明，逆补偿十滑模控制提高了基于压电陶瓷
设计的控制策略的有效性，设计并实现了逆补偿十P1控制器。
执行器驱动的纳米定位系统的跟踪精度，其跟踪正弦输人的平均绝对误差为0.0206μm。与逆补偿十PI控制策略相比，逆补偿十滑模控制对不同的输人信号有很好的适应性，保证了纳米定位平台的定位精度。
调：压电陶瓷执行器；滞非线性;Preisach模型；滑模控制；通补偿
关键
中图分类号：TP273.1;TN384
文献标识码：A
doi:10.3788/OPE.20111906.1281
Sliding mode control of hysteresis of
piezoceramicactuatorbasedoninversePreisachcompensation
LAI Zhi-lin'*, LIU Xiang-dong', GENG Jie', LI Li?
(1.SchoolofAutomatic,BeijingInstituteof Technology,Beijing1ooo8l,China:
2.AerospaceDongfanghong SatelliteCo.,Ltd.,Beijing 100o8o,China)
+Correspondingauthor,E-mail;lai@bit.edu.cn
Abstract: In order to reduce the nonlinear hysteresis of piezoceramic actuators, a sliding mode control scheme based on Preisach inverse compensation was proposed in this paper, Firstly, an inverse Preisa-ch model of the hysteresis was built by using the sorting &. taxis realization method. Then the inverse model was connected in series with the hysteresis of the system to reduce the impact of the nonlinear hysteresis, In consideration of that the hysteresis can't be entirely offseted by the inverse model and there are also many uncertainties in the system, a sliding mode controller with a sub-boundary layer was designed, Finally, to verify the feasibility of the sliding mode controller, a PI controller was pres ented to compare with the proposed scheme. The experiment results show that the control scheme im-proves the tracking accuracy of the system,and the average absolute error is 0. 020 6 μm when tracking is on sinusoidal input. Compared with the PI controller based on the inverse Preisach model, the pro posed control scheme has a better adaptability and can offer a good tracking accuracy.
Key words; piezoceramic actuator; hysteresis nonlinearity; Preisach model; sliding mode control; in
verse compensation
收稿日期：2010-07-05；修订日期：2010-09-29
基金项目：国家自然科学基金资助项目（No，10872030）；高等学校博土学科点专项科研基金资助项目（No.
20091101110025)