于志亮,刘杨,王岩,李松,谭久彬.基于改进PI模型的压电陶瓷迟滞特性补偿控制[J].仪器仪表学报,2017,38(1):129-135
基于改进PI模型的压电陶瓷迟滞特性补偿控制
Hysteresis compensation and control of piezoelectric actuator based on an improved PI model
  
DOI:
中文关键词:  快速倾斜镜  压电陶瓷执行器  迟滞特性  改进PI模型
英文关键词:fast steering mirror  piezoelectric actuator  hysteresis  improved Prandtl I shlinskii (PI) hysteresis model
基金项目:国家自然科学基金(51405097,61274109)、国家自然科学基金重点项目(51537002)资助
作者单位
于志亮 哈尔滨工业大学控制科学与工程系黑龙江150001 
刘杨 1.哈尔滨工业大学控制科学与工程系黑龙江150001;2. 哈尔滨工业大学 超精密光电仪器工程研究所黑龙江150001 
王岩 哈尔滨工业大学控制科学与工程系黑龙江150001 
李松 哈尔滨工业大学控制科学与工程系黑龙江150001 
谭久彬 哈尔滨工业大学 超精密光电仪器工程研究所黑龙江150001 
AuthorInstitution
Yu Zhiliang Department of Control Science and Engineering, Harbin Institute of Technology,Harbin 150001, China 
Liu Yang 1.Department of Control Science and Engineering, Harbin Institute of Technology,Harbin 150001, China; 2. Center of Ultraprecision Optoelectronic Instrument, Harbin Institute of Technology, Harbin 150001, China 
Wang Yan Department of Control Science and Engineering, Harbin Institute of Technology,Harbin 150001, China 
Li Song Department of Control Science and Engineering, Harbin Institute of Technology,Harbin 150001, China 
Tan Jiubin Center of Ultra precision Optoelectronic Instrument, Harbin Institute of Technology, Harbin 150001, China 
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中文摘要:
      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)。
英文摘要:
      The hysteretic nonlinearity of the piezoelectric actuator (PEA) will greatly reduce the pointing accuracy of a precision pointing system for inter satellite laser communication, and affect the acquisition of beacon and link stability. To address this issue, an improved Prandtl Ishlinskii (PI) model based on the PLAY hysteresis operator and parameter identification method is presented to characterize the hysteresis of the PEA. Based on this basis, a feedback forward linearization method for the piezoelectric is proposed and its effectiveness of mathematical model and linearization is verified. The experimental results show that the inverse of this model with maximum error less than 1% is employed for feedforward compensation of the PEA hysteresis to obtain an approximately linear system. The improved PI model entails less computation than the original PI model. The performance the feedforward compensation is verified by experiments using control signals with different frequencies, and with constant and decreasing amplitudes respectively. The results show that the feedforward inverse model compensation can reduce the linearity error of the PEA from 5% to less than 1%, which Prandtl Ishlinskii model in computational complexity simplified from O(n) to O (1).
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