压电作动器的动态迟滞建模与H_∞鲁棒控制
发布时间：2019-08-05 15:36
【摘要】：压电作动器具有率相关动态迟滞非线性特性,给传统建模和控制技术提出了挑战.本文针对压电作动器,提出了一种基于Bouc-Wen的Hammerstein率相关迟滞非线性模型,其中Bouc-Wen模型和线性动态模块分别用于描述系统的静态迟滞非线性特性和率相关特性.同时,构造了一个基于Bouc-Wen模型的迟滞补偿器,将迟滞补偿器与被控对象串联使系统线性化;并建立了不确定性系统模型,提出了一种H∞鲁棒跟踪控制方案,可以实现给定频率范围内单频率和复合频率参考信号的良好跟踪.实验结果表明,所建动态模型具有良好的泛化能力,跟踪控制相对误差小于8%,证明了所提出方法的有效性.
[Abstract]:Piezoelectric actuators have the nonlinear characteristics of dynamic lag related to availability, which challenges the traditional modeling and control technology. In this paper, a Hammerstein rate dependent lag nonlinear model based on Bouc-Wen is proposed for piezoelectric actuators. Bouc-Wen model and linear dynamic module are used to describe the static lag nonlinear characteristics and rate correlation characteristics of the system, respectively. At the same time, a delay compensator based on Bouc-Wen model is constructed, which linearizes the system in series with the controlled object, and the uncertain system model is established, and an H _ 鈭，
本文编号：2523203
[Abstract]:Piezoelectric actuators have the nonlinear characteristics of dynamic lag related to availability, which challenges the traditional modeling and control technology. In this paper, a Hammerstein rate dependent lag nonlinear model based on Bouc-Wen is proposed for piezoelectric actuators. Bouc-Wen model and linear dynamic module are used to describe the static lag nonlinear characteristics and rate correlation characteristics of the system, respectively. At the same time, a delay compensator based on Bouc-Wen model is constructed, which linearizes the system in series with the controlled object, and the uncertain system model is established, and an H _ 鈭，
本文编号：2523203
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