压电致动的谐振式水下柔性结构动态迟滞建模及前馈补偿

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (1) : 115-122.

论文

王泽锴1,3，娄军强1,2,陈特欢1，邓益民1,崔玉国1，魏燕定2

作者信息 +

Dynamic hysteresis modeling and feedforward compensation of MFC actuatedresonant underwater flexible structures

WANG Zekai1,3, LOU Junqiang1, 2, CHEN Tehuan1, DENG Yimin1, CUI Yuguo1, WEI Yanding2

Author information +

文章历史 +

摘要

具有运动灵活且操作方便优点的Macro Fiber Composite(MFC) 致动水下柔性结构广泛应用于水下仿生推进和变形控制系统中，但是MFC的迟滞非线性严重影响了系统的定位精度和操控性能。本文提出了一种改进Prandtl-Ishlinskii(PI)静态迟滞和传递函数动态模型串联的复合式模型来描述MFC致动水下柔性结构谐振状态下的动态迟滞行为。首先基于所提出水下结构的准静态迟滞特性辨识得到改进PI迟滞模型参数，然后通过传递函数串联馈通环节的动态模型捕捉MFC致动柔性结构的水下谐振特性。实验结果表明所建立的复合式动态迟滞模型能够很好地描述MFC致动水下柔性结构在谐振状态下的动态迟滞行为，并且在固有频率附近一定带宽范围内仍具有较高准确性。基于复合式逆模型的前馈补偿下，水下柔性结构在谐振状态下跟踪正弦轨迹的实测位移与期望位移基本重合，补偿后二者线性度较高，显著提升了MFC致动柔性结构谐振状态下的动态定位和跟踪精度，证实了所提出动态迟滞模型和补偿方法的有效性。

Abstract

Macro Fiber Composite (MFC) actuated underwater flexible structure with the advantages of motion flexibility and operation convenience, is widely used in underwater bionic propulsion and deformation control systems, nevertheless, the positioning accuracy and control performance are seriously affected by the nonlinear hysteresis of MFC material. In this paper, a compound model containing modified Prandtl-Ishlinskii (MPI) static model and transfer function dynamic model in series is proposed to describe the dynamic hysteresis phenomenon of MFC actuated underwater flexible structure in resonant state. Firstly, the parameters of the MPI model are obtained based on the quasi-static hysteresis characteristics of the proposed underwater flexible structure, and then the underwater resonant characteristics are captured by the dynamic model of the transfer function added feed-through term. The experimental results show that the dynamic hysteresis behavior of MFC actuated resonant underwater flexible structure can be matched relatively well by the proposed compound dynamic hysteresis model and keep high accuracy in a certain bandwidth range near the natural frequency. Based on feedforward compensation of the inverse compound model, the measured displacement of underwater flexible structure in resonant state is essentially coincident with the desired displacement of that in sine trajectory tracking achieving a high compensated linearity and significantly improves the dynamic positioning and tracking accuracy. Accordingly, the effectiveness of the proposed dynamic hysteresis model and compensation method is verified.

导出引用

王泽锴1,3，娄军强1,2,陈特欢1，邓益民1,崔玉国1，魏燕定2. 压电致动的谐振式水下柔性结构动态迟滞建模及前馈补偿[J]. 振动与冲击, 2023, 42(1): 115-122

WANG Zekai1,3, LOU Junqiang1, 2, CHEN Tehuan1, DENG Yimin1, CUI Yuguo1, WEI Yanding2. Dynamic hysteresis modeling and feedforward compensation of MFC actuatedresonant underwater flexible structures[J]. Journal of Vibration and Shock, 2023, 42(1): 115-122

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