基于自适应滤波器的压电陶瓷执行器迟滞建模及逆控制

发布时间：2018-01-12 04:19

本文关键词：基于自适应滤波器的压电陶瓷执行器迟滞建模及逆控制　出处：《北京理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：压电陶瓷执行器是新型的微位移定位器件，由于其具有响应速度快、体积小、功耗低、结构简单、无磨损、无噪声、高位移分辨率等优点，而被广泛应用于微机电系统、精密定位、纳米生物工程、航空航天、仪器仪表等领域。但同时压电陶瓷具有迟滞、蠕变等非线性特性，其中迟滞非线性会严重影响系统的控制精度，研究压电陶瓷执行器迟滞特性的建模及其控制具有重要的意义。本文以压电陶瓷执行器微定位系统实验平台为研究对象，自适应滤波器与压电陶瓷迟滞算子相结合，主要研究了基于自适应递归滤波器和自适应格型滤波器的压电陶瓷执行器迟滞非线性建模方法，并对其迟滞逆补偿控制方法进行探讨研究。首先探讨了自适应递归滤波器的建模方法，然后利用压电陶瓷迟滞Backlash算子代替延时算子，建立新型的自适应递归滤波器模型，并在压电陶瓷执行器微定位系统实验平台上通过实验验证其迟滞建模能力。在此过程中，，采用最小均方(Least MeanSquare，LMS)自适应算法来调节滤波器权值。然后，对自适应递归滤波器进行结构上的改进，提出了基于自适应格型滤波器的压电陶瓷迟滞建模方法。研究了自适应格型滤波器建模方法，为了便于观测建模效果，提出了梯度自适应格型联合处理器的概念，其包含了梯度自适应格型滤波部分和线性LMS组合部分。并对算法进行改进，采用归一化LMS算法，从而提高建模精度和收敛速度。最后用Backlash算子代替延时算子组成新的自适应格型滤波器，并通过仿真验证其迟滞建模能力。此外，对文中建立的模型进行了控制算法的研究，介绍了自适应逆控制方法，主要探讨了迟滞逆补偿控制方法。在本文中主要运用了逆模型串联补偿闭环控制和逆模型前馈补偿闭环控制，并在实验平台上进行实验仿真，从而验证了其控制效果。
[Abstract]:The piezoelectric ceramic micro displacement actuator is positioning device model, because of its fast response speed, small volume, low power consumption, simple structure, no wear, no noise, high displacement resolution and other advantages, and is widely used in MEMS, nano precision positioning, bio engineering, aerospace, instrumentation and other fields but at the same time. The piezoelectric ceramics with hysteresis, creep and nonlinear characteristics, the nonlinear hysteresis will affect the control precision of the system seriously, it is of great significance to study the piezoelectric ceramic actuator Hysteresis Modeling and control.
In this paper, a piezoelectric ceramic actuator micro positioning system experimental platform as the research object, adaptive filter and piezoelectric hysteresis operator combination, mainly studies the adaptive recursive filter and adaptive lattice filter of the piezoelectric ceramic actuator Hysteresis Modeling Method Based on the inverse hysteresis compensation control method are discussed.
First discusses the modeling method of adaptive recursive filter, and then use the piezoelectric ceramic Backlash hysteresis operator instead of delay operator, an adaptive recursive filter model, and the piezoelectric ceramic actuator micro positioning system experimental platform through experiment verify its hysteresis modeling ability. In this process, using the least mean square (Least MeanSquare, LMS adaptive filter) algorithm to adjust the weights.
Then, to improve the structure of adaptive recursive filter, proposed piezoelectric Hysteresis Modeling Method Based on adaptive lattice filter. The study of adaptive lattice filter modeling method, in order to facilitate the observation of the effect of modeling, puts forward the concept of gradient adaptive lattice joint processor, which includes a gradient adaptive lattice filter and linear LMS. The algorithm was improved by using the normalized LMS algorithm, so as to improve the modeling accuracy and convergence speed. Finally using Backlash operator instead of delay operator adaptive lattice filter new, and the hysteresis modeling ability is verified by simulation.
In addition, the model of control algorithm, the adaptive inverse control method, mainly discusses the inverse hysteresis compensation control method. In this paper the main use of the inverse model control and inverse model feed-forward compensation loop control series compensation loop, and simulation experiment has been carried out in the experimental platform, which verifies the the effect of control.

【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TQ174.75;TN713

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