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轴向双压电叠堆执行器并联控制实验研究

郑述峰 朱玉川 凌杰 刘昶 林文

郑述峰,朱玉川,凌杰,等. 轴向双压电叠堆执行器并联控制实验研究[J]. 北京航空航天大学学报,2023,49(6):1460-1470 doi: 10.13700/j.bh.1001-5965.2021.0432
引用本文: 郑述峰,朱玉川,凌杰,等. 轴向双压电叠堆执行器并联控制实验研究[J]. 北京航空航天大学学报,2023,49(6):1460-1470 doi: 10.13700/j.bh.1001-5965.2021.0432
ZHENG S F,ZHU Y C,LING J,et al. Experimental study on parallel control of axial dual-piezoelectric stack actuator[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1460-1470 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0432
Citation: ZHENG S F,ZHU Y C,LING J,et al. Experimental study on parallel control of axial dual-piezoelectric stack actuator[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1460-1470 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0432

轴向双压电叠堆执行器并联控制实验研究

doi: 10.13700/j.bh.1001-5965.2021.0432
基金项目: 国家自然科学基金(51975275);江苏省重点研发计划(BE2021034);江苏省自然科学基金(BK20210294)
详细信息
    通讯作者:

    E-mail:meeyczhu@nuaa.edu.cn

  • 中图分类号: TN384

Experimental study on parallel control of axial dual-piezoelectric stack actuator

Funds: National Natural Science Foundation of China (51975275); Science and Technology Planned Project of Jiangsu Province of China (BE2021034); Natural Science Foundation of Jiangsu Provice of China (BK20210294)
More Information
  • 摘要:

    双压电叠堆执行器相较于常规压电叠堆执行器具有位移放大功能,但受制于压电材料的迟滞非线性,位移精度难以满足需求。为减小双压电叠堆执行器的迟滞非线性,建立改进型PI (Prandtl-Ishlinskii)动态迟滞模型并进行参数辨识,提出一种双压电叠堆执行器输出位移分配策略与双压电叠堆并联控制方案,基于迟滞逆模型采用前馈-反馈复合控制进行实验研究,并采用不基于迟滞逆模型的线性自抗扰控制(LADRC)进行对比。基于Links-RT实时控制系统验证控制算法,实验结果表明:在1~200 Hz频率范围内,前馈-反馈复合控制效果最优,当跟踪信号频率为200 Hz时,均方根误差和最大绝对误差分别为0.454 4 μm和1.95 μm,远低于开环的4.369 6 μm和6.08 μm。

     

  • 图 1  轴向双压电叠堆执行器结构图

    Figure 1.  Structurale schematic of axiad dual-piezoelectric stack actuator

    图 2  轴向双压电叠堆执行器实物图

    Figure 2.  Axiad dual-piezoelectric stack actuator photograph

    图 3  Backlash算子

    Figure 3.  Backlash operator

    图 4  执行器输出位移测量实验平台

    Figure 4.  Experimental platform for actuator displacement measurement

    图 5  不同频率上压电叠堆实验与仿真对比

    Figure 5.  Comparison between experiment and simulation of upper piezoelectric stack at different frequencies

    图 6  不同频率下压电叠堆实验与仿真对比

    Figure 6.  Comparison between experiment and simulation of lower piezoelectric stack at different frequencies

    图 7  迟滞模型获取方法

    Figure 7.  Hysteresis model acquisition method

    图 8  前馈-反馈复合控制原理图

    Figure 8.  Feedforward-feedback compound control schematic

    图 9  不同频率下前馈-反馈复合控制滞环曲线

    Figure 9.  Hysteresis curve of feedforward-feedback compound control at different frequencies

    图 10  前馈-反馈复合控制评价参数对比

    Figure 10.  Comparison of evaluation parameters for feedforward-feedback compound control

    图 11  LADRC原理图

    Figure 11.  LADRC schematic

    图 12  LADRC滞环曲线

    Figure 12.  Hysteresis curve of LADRC

    图 13  LADRC评价参数对比

    Figure 13.  Comparison of LADRC evaluation parameters

    图 14  各控制算法评价参数对比

    Figure 14.  Evaluation parameters of each controller

    表  1  压电叠堆性能参数表

    Table  1.   Properties of piezoelectric stack

    参数数值
    尺寸/mm10×10×18
    质量 ms/kg0.014
    阻尼 cs/(N·s·m−1)1 200
    刚度 ks/(N·μm−1)180
    标称位移y/μm20
    阻断力/N3 600
    静电容量/nF7 500
    谐振频率/kHz83
    下载: 导出CSV

    表  2  参数辨识结果

    Table  2.   Parameter identification results

    参数数值
    v=1v=2
    w1v−0.014−0.109
    w2v0.0570.080
    w3v0.0400.041
    w4v00
    w5v0.0530.066
    w6v−0.099−0.229
    w7v0.1170.178
    w8v−0.0270.012
    w9v00
    w10v0.0140.031
    w11v−0.0190.099
    p1v0.721−0.477
    p2v1.5761.137
    p3v0.5000.571
    p4v−0.067−0.071
    p5v−0.684−0.616
    p6v0.1130.087
    下载: 导出CSV

    表  3  迟滞逆模型参数辨识结果

    Table  3.   Parameter identification results of hysteresis inverse model

    参数数值
    v=1v=2
    w1v_i−0.011−0.178
    w2v_i0.1070.148
    w3v_i0.0150.003
    w4v_i00
    w5v_i0.0440.057
    w6v_i−0.123−0.213
    w7v_i0.1430.203
    w8v_i−0.027−0.013
    w9v_i00
    w10v_i0.0130.018
    w11v_i−0.018−0.019
    p1v_i0.7850.153
    p2v_i−2.43−2.043
    p3v_i0.4150.426
    p4v_i−0.064−0.064
    p5v_i0.1330.067
    p6v_i0.2080.201
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-07-30
  • 录用日期:  2021-10-29
  • 网络出版日期:  2021-11-09
  • 整期出版日期:  2023-06-30

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