【摘要】 在实验的基础上证实了压电执行器动态蠕变现象的存在。考虑到压电执行器的高频响特点和PID在高实时性要求场合的应用,构建了复合控制器来抑制动态蠕变。该复合控制器由具有Prandtl Ishlinskii类型的迟滞直接逆作为前馈控制器,由根据在线测试结果和实时性要求选择的增量式PI作为反馈控制器,其中增量式PI的参数由模糊逻辑控制器在线调节。通过实验验证了复合控制器抑制动态蠕变的有效性。结果表明,当同幅值的0.1 Hz正弦信号在一个周期内被离散化为20台阶,40台阶,80台阶时,相等电压台阶对应的蠕变过程和范围都是不同的。本文构建的复合控制器能够对不同台阶的动态和静态蠕变进行有效抑制,补偿后蠕变的均方根误差(RMSE)分别降低为补偿前的28.6%,31.0%和35.4%。更多还原

【Abstract】 The dynamic creep phenomenon of a piezoelectric actuator was confirmed by experiments.Based on the high frequency response of the piezoelectric actuator and the higher real time ability of the PID,a composite controller was proposed to compensate the dynamic creep.The composite controller used a direction inverse controller with Prandtl Ishlinskii operators as the feed-forward controller,and an increment PI as the feed-backward controller based on the online test results and demanded real time abilities,in which the parameters of PI were tuned by a fuzzy logic controller.The validity of compensating dynamic creep phenomenon of the piezoelectric actuator by the composite controller was verified.The results show that when a 0.1Hz sine-wave is discretized into 20,40,80 stairs re-spectively,the dynamic creep corresponding the equal voltages has different creep processing and different creep ranges.It verifies that the dynamic creep is complex nonlinearity.It concludes that the proposed controller compensates both static creep and dynamic creep in different discretization stairs and the root-mean square errors(RMSE)of compensated creep have decreased by 71.4%,69.0%and64.6%respectively.更多还原