MFC致动器的动态迟滞模型辨识及补偿控制

Abstract
Figure/Table
References (21)
Related Citation (11)

Download: PDF (1491 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract Piezoelectric Macro Fiber Composite (Marco Fiber Composite, MFC) has the advantages of good flexibility and strong deformability. However, the hysteresis and nonlinearity of the flexible arm driven by the MFC actuator seriously affect the positioning accuracy of the system. This paper proposes an improved Prandtl-Ishlinskii (PI) hysteresis model with asymmetry to solve the defects (symmetry) of the classic PI hysteresis model. This model is obtained by superimposing a series of bilateral dead zone operators with different weights and different thresholds based on the classic PI hysteresis model. The hysteresis model identification results based on the least square method show that the improved PI hysteresis model has reduced the modeling error of the MFC actuator from 16.06% of the PI hysteresis model to 5.58%. Besides, the discrete transfer function model of the system is established to describe the linear dynamic characteristics of the system. The discrete transfer function model and the improved PI hysteresis model are connected in series to obtain a combined model. It solves the problem that the pure hysteresis model can only describe the hysteresis characteristics under low-frequency and quasi-static conditions. Under the feedforward compensation, a sinusoidal wave trajectory tracking experiment is performed on the flexible arm actuated by MFC. The measured displacement after compensation is basically consistent with the expected tracking displacement, and the tracking accuracy is over 93.62%. Experimental results demonstrate the effectiveness of the proposed improved PI hysteresis model, discrete transfer function model and compensation method.

Key words： piezoelectric Macro Fiber Composite hysteresis nonlinearity bipolar asymmetry improved PI hysteresis model transfer function model feedforward compensation

Received: 13 January 2021 Published: 28 May 2022

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	LU Ronghua1
	CHEN Tehuan1
	2
	LOU Junqiang1
	2
	CUI Yuguo1

Cite this article:

LU Ronghua1,CHEN Tehuan1,2, et al. Identification and compensation control of the dynamic hysteresis model of MFC actuators[J]. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(10): 301-308.

URL:

http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2022/V41/I10/301

[1] Aridogan U, Basdogan I. A review of active vibration and noise suppression of plate-like structures with piezoelectric transducers[J]. Journal of Intelligent Material Systems & Structures,2015,26(12):1455-1476.
[2] Qiu Z C, Han J D, Zhang X M, et al. Active vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patch actuator[J]. Journal of Sound & Vibration,2009,326(3-5):438-455.
[3] Sethi V, Song G. Multimodal vibration control of a flexible structure using piezoceramic sensor and actuator[J]. Journal of Intelligent Material Systems & Structures, 2008,19(5):573-582.
[4] Karthik R, Prasath S G, Swathi K R. Surface morphing using macro fiber composites[J]. Materials Today: Proceedings, 2018,5(5):12863-12871.
[5] 林秀娟,周科朝,张晓泳,等. 压电纤维复合材料的发展、模拟及应用（英文）.中国有色金属学报：英文版, 2013,23(1),98-107.
LIN Xiu-juan, ZHOU Ke-chao, ZHANG Xiao-yong, et al. Development, modeling and application of piezoelectric fiber composites[J].Transactions of Nonferrous Metals Society of China, 2013, 23(1), 98-107.
[6] Wu K, Fang H F, Lan L. Static and dynamic analyses of composite beam bonded with MFC actuator[J]. Journal of Harbin Institute of Technology (New Series), 2020, 27(02):79-90.
[7] Wang G, Guan C L, Zhang X J, et al. Precision control of piezo-actuated optical deflector with nonlinearity correction based on hysteresis model[J]. Optics and Laser Technology, 2014,57:26-31.
[8] Ruderman M, Hoffmann F, Bertram T, et.al. Modeling and identification of elastic robot joints with hysteresis and backlash[J]. IEEE Transactions on Industrial Electronics, 2009,56(10):3840-3847.
[9] Su C Y, Feng Y, Hong H, et al. Adaptive control of system involving complex hysteretic nonlinearities: a generalised Prandtl-Ishlinskii modelling approach[J]. International Journal of Control,2009,82(10):1786-1793.
[10] Li Z, Shan J J. Modeling and inverse compensation for coupled hysteresis in piezo-actuated Fabry–Perot spectrometer[J]. IEEE/ASME Transactions on Mechatronics,2017,22(4):1903-1913.
[11] 王龙飞,邓亮,刘萍. 基于改进果蝇优化的压电精密定位平台迟滞Bouc-Wen模型辨识 [J].计算机工程与应用, 2020, 56(2): 242-247.
WANG Long-fei, DENG Liang, LIU Ping. Improved fruit fly optimization based hysteresis bouc-wen model identification of piezoelec-tric precision positioning stages [J]. Computer Engineering and Applications, 2020, 56(2): 242-247.
[12] 徐子睿,许素安,富雅琼等. 基于Duhem前馈逆补偿的压电陶瓷迟滞非线性自适应滑模控制 [J].传感技术学报，2019,32(8):1209-1214.
XU Zi-rui, XU Su-an, FU Ya-qiong, et al. Piezoelectric ceramic hysteresis nonlinear adaptive sliding mode control based on Duhem feedforward inverse compensation [J]. Chinese Journal of Sensors and Actuators, 2019, 32(8): 1209-1214.
[13] 裘进浩, 陈海荣, 陈远晟等. 压电驱动器的非对称迟滞模型 [J].纳米技术与精密工程（英文）, 2012,10(3):189-197.
QIU Jin-hao, CHEN Hai-rong, CHEN Yuan-sheng, et al. A model for asymmetric hysteresis of piezoelectric actuators [J]. Nano-technology and Precision Engineering (English), 2012, 10(3): 189-197.
[14] 胡俊峰，何建康，杨明立. 压电式二维微定位平台的率相关迟滞建模 [J]. 振动与冲击, 2020, 39(6): 104-110.
HU Jun-feng, HE Jian-kang, YANG Ming-li. Rate-dependent modeling of a piezoelectric two-dimensional micro positioning stage [J]. Vibration and Shock, 2020, 39(6): 104-110.
[15] 陈高华,闫献国,郭宏,等. 压电陶瓷振动传感器的迟滞非线性误差补偿研究 [J]. 振动与冲击, 2018, 37(23): 278-285.
CHEN Gao-hua, YAN Xian-guo, GUO Hong, et al. Error compensation for hysteresis nonlinearity of piezoelectric ceramic vibration sensors [J]. Journal of Vibration and Shock, 2018, 37(23): 278-285.
[16] Adly A A, Abd-El-Hafiz S K. Using neural networks in the identification of preisach-type hysteresis models[J]. IEEE Transactions on Magnetics,1998,34(3):629-635.
[17] Kuhnen K. Modeling identification and compensation of complex hysteretic nonlinearities: a modified Prandtl-Ishlinskii approach[J]. European Journal of Control,2003,9(4): 407-418.
[18] Wang G, Chen G Q, Zhou H, et al. Modeling and tracking control for piezoelectric actuator based on a new asymmetric hysteresis model[J]. IEEE/CAA Journal of Automatica Sinica,2017,4(4):782-791.
[19] 王钰锋,郭咏新,毛剑琴. 压电作动器的率相关迟滞建模与跟踪控制 [J].光学精密工程,2014,22(3):616-625.
WANG Yu-feng, GUO Yong-xin, MAO Jian-qin. Rate-dependent modeling and tracking control of piezoelectric actuators [J]. Optics and Precision Engineering, 2014, 22(3): 616-625.
[20] Liu H S, Zhu L, Pan Z H, et al. ARMAX-based transfer function model identification using wide-area measurement for adaptive and coordinated damping control[J]. IEEE Transactions on Smart Grid,2017,8(3): 1105-1115.
[21] 王一凡,赵成勇,郭春义. 直驱风电场与柔直互联系统的传递函数模型及其低频振荡稳定性分析 [J].中国电机工程报, 2020, 40(5): 1485-149.
WANG Yi-fan, ZHAO Cheng-yong, GUO Chun-yi. Transfer function model and low-frequency stability analysis for PMSG-based wind farm interconnected with flexible-HVDC system [J]. Proceedings of the CSEE, 2020, 40(5): 1485-149.