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[1]王毅,何朕.压电驱动器系统的控制设计[J].电机与控制学报,2016,20(05):96-102.[doi:10. 15938 / j. emc. 2016. 05. 014]
 WANG Yi,HE Zhen.Control design for piezoelectric actuator systems[J].,2016,20(05):96-102.[doi:10. 15938 / j. emc. 2016. 05. 014]
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
20
期数:
2016年05
页码:
96-102
栏目:
出版日期:
2016-05-02

文章信息/Info

Title:
Control design for piezoelectric actuator systems
作者:
王毅 何朕
 ( 哈尔滨工业大学 航天学院,黑龙江 哈尔滨 150001)
Author(s):
WANG Yi HE Zhen
( School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)
关键词:
压电驱动器 超声马达 迟滞特性 齿隙 补偿
Keywords:
piezoelectric actuator ultrasonic motor hysteresis backlash compensation
分类号:
TP 273
DOI:
10. 15938 / j. emc. 2016. 05. 014
文献标志码:
A
摘要:
针对压电伺服系统中执行机构的应用特点,分析指出压电超声马达不适宜用作高精度伺服 系统中的执行机构,而是应该采用压电堆驱动的执行机构。对于压电堆驱动器的迟滞特性,提出采 用便于进行仿真研究的 Bouc - Wen 迟滞模型,用 Bouc - Wen 模型分析了压电堆驱动器的非线性迟 滞特性和它的补偿问题。提出了采用基于负反馈原理的扰动观测器来补偿迟滞,进一步分析了具 有迟滞特性的压电伺服系统的自振荡问题,并与齿隙滞环引起的自振荡进行了比较,指出带压电滞 环反馈的系统中是不会出现自振荡的。基于上述分析,提出了一种压电伺服系统的设计指导,并给出了仿真结果。

Abstract:
Considering with the application specifics of the piezoelectric servo system,the piezoelectric ul-trasonic motor is not appropriate for use as an actuator for high precision servo systems,and a piezoelectric stack structure was proposed for the system actuator. The Bouc-Wen model of hysteresis was proposed for modeling the hysteresis characteristic of the piezoelectric stack actuator. This model is more suitable for simulation studies. The nonlinear characteristic of hysteresis of the piezoelectric actuator was then ana-lyzed based on the Bouc-Wen model. The compensation of the nonlinear hysteresis was also discussed. A feedback-based disturbance observer for hysteresis compensation was then proposed. The self-sustained os-cillation problem for servo systems with piezoelectric hysteresis was further analyzed. The limit cycles caused by the hysteresis effect of backlash was also studied for comparison. It is pointed out that self-sus-tained oscillations cannot appear at all in a system with piezoelectric hysteresis in feedback. Based on the above analysis,a design guide for the piezoelectric servo system was proposed,and the simulation result was also presented.

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备注/Memo

备注/Memo:
收稿日期: 2015 - 11 - 25
基金项目: 国家自然科学基金委创新研究群体科学基金( 61021002) ; 国家自然科学基金( 61174203,60374027) ; 863 计划( 2015AA7011009)
作者简介: 王 毅( 1967—) ,男,博士,副教授,研究方向为高精度伺服系统和摩擦补偿;
何 朕( 1972—) ,女,博士,教授,研究方向为控制系统设计、鲁棒控制及 H∞ 控制等。
更新日期/Last Update: 2016-06-26