压电陶瓷执行器迟滞补偿及复合控制

发布时间：2018-07-05 15:34

本文选题：快速倾斜镜 + 激光通信　；参考：《光学精密工程》2017年08期

【摘要】：快速倾斜镜是星间激光通信终端精瞄系统的核心部件,其驱动装置为压电陶瓷执行器,而压电陶瓷具有迟滞特性,其严重影响了快速倾斜镜的定位精度,进而对星间通信链路的稳定性造成不利影响。为解决这一问题,本文设计了一种改进Prandtl-Ishlinskii(P-I)模型对压电陶瓷执行器进行建模。在此基础上,提出了压电陶瓷执行器前馈线性化方法,以对迟滞特性进行前馈逆补偿。接着,提出了一种结合改进的P-I模型与增量式PID算法的复合控制算法,并在DSP中实现了该复合控制算法。最后,在试验平台上对该算法进行了验证。结果显示:当分别对系统输入10Hz和100Hz减幅正弦、等幅正弦曲线时,模型误差在0.59%以内,在输入同频100Hz以下的减幅正弦曲线时,传统PID算法的最大误差为59.31μrad,而该复合算法的最大误差为14.22μrad。实验数据表明,本文复合控制方法的动态跟踪性能明显优于传统PID方法,改进Prandtl-Ishlinskii(P-I)模型可以精确描述压电陶瓷的迟滞特性。本文设计的复合控制方法满足实际应用对快速倾斜镜的要求。
[Abstract]:The fast tilt mirror is the core part of the precise pointing system of the intersatellite laser communication terminal, and its driving device is the piezoelectric ceramic actuator, and the piezoelectric ceramic has the hysteresis characteristic, which seriously affects the positioning accuracy of the fast tilt mirror. Furthermore, the stability of intersatellite communication link is adversely affected. To solve this problem, an improved Prandtl-Ishlinskii (P-I) model is designed to model the piezoelectric actuator. On this basis, a feedforward linearization method for piezoelectric actuator is proposed to compensate the hysteresis characteristics. Then, a compound control algorithm combining the improved P-I model and the incremental pid algorithm is proposed, and the compound control algorithm is implemented in DSP. Finally, the algorithm is verified on the test platform. The results show that the model error is less than 0.59% when the sinusoidal curves with 10 Hz and 100 Hz amplitudes are input respectively, and when the sinusoidal curves with the same frequency below 100 Hz are input, the model error is less than 0.59%. The maximum error of traditional pid algorithm is 59.31 渭 radand that of compound algorithm is 14.22 渭 rad. The experimental data show that the dynamic tracking performance of the composite control method is obviously better than that of the traditional pid method. The improved Prandtl-Ishlinskii (P-I) model can accurately describe the hysteresis characteristics of piezoelectric ceramics. The compound control method designed in this paper meets the requirements of practical application for fast tilting mirror.
【作者单位】：哈尔滨工业大学航天学院;哈尔滨工业大学空间光通信技术研究中心;中国科学院长春光学精密机械与物理研究所;
【基金】：国家科技重大专项(No.2009ZX02207) 国家自然科学基金重点资助项目(No.51537002) 国家青年自然科学基金资助项目(No.61503096)
【分类号】：TN929.1

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