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迟滞非线性降低了压电陶瓷驱动器对期望位移的跟踪精度,为解决该问题,本文通过二次规划寻优算法,基于最小均方误差准则,以压电陶瓷驱动器的运动速度规律为依据,对压电陶瓷运动速度规律不同的迟滞段分别进行PI建模.建模结果表明,相较于传统PI模型,本文提出的三段PI模型能精确地描述压电陶瓷迟滞曲线的非奇对称性.在对压电陶瓷三段PI建模的基础上,计算出压电陶瓷三段PI逆模型的阈值向量与权系数向量.通过建立的三段PI逆模型对压电陶瓷进行迟滞补偿控制,实验结果表明,与传统PI逆模型迟滞补偿控制相比,三段PI逆模型迟滞补偿控制方法将压电陶瓷对期望位移的跟踪精度提高了81.3%.
Hysteresis nonlinearity reduces the tracking accuracy of the piezoelectric actuator to the expected displacement. In order to solve this problem, this paper through the quadratic programming optimization algorithm, based on the minimum mean square error criterion, based on the piezoelectric ceramic actuator motion speed law, The PI modeling of hysteresis segments with different movement velocities of piezoelectric ceramics are respectively carried out.The modeling results show that compared with the traditional PI model, the PI model proposed in this paper can accurately describe the non-odd symmetry of the hysteresis curve of piezoelectric ceramics. Based on the three-phase PI modeling of piezoelectric ceramics, the threshold vector and weight coefficient vector of three-stage PI inverse model of piezoelectric ceramics are calculated.The hysteresis compensation control of piezoelectric ceramics is established by the established three-stage PI inverse model, The results show that compared with the traditional PI inverse model hysteresis compensation control, the hysteretic compensation control method of the three-stage PI inverse model improves the tracking accuracy of the piezoelectric ceramic to the expected displacement by 81.3%.