【摘要】：壓電陶瓷作動(dòng)器作為智能材料的一種,具有壓電效應(yīng)好、分辨率高、反應(yīng)速度快以及成本低等特點(diǎn),在精密儀器、微位移和微控制等領(lǐng)域得到了廣泛的應(yīng)用。壓電陶瓷作動(dòng)器本身所具有的遲滯非線性特性是一種強(qiáng)非線性,且這種遲滯非線性又是率相關(guān)的,這些都嚴(yán)重影響了控制精度,甚至導(dǎo)致控制系統(tǒng)發(fā)生震蕩,制約著它的應(yīng)用。本文首先建立壓電陶瓷作動(dòng)器的Hammerstein模型,然后深入研究了壓電陶瓷作動(dòng)器的跟蹤控制問題,主要包括以下幾個(gè)方面的內(nèi)容。第一個(gè)部分在分析總結(jié)了國內(nèi)外對(duì)于壓電陶瓷作動(dòng)器建模的基礎(chǔ)上,分析各種模型的優(yōu)缺點(diǎn)和應(yīng)用范圍,深入學(xué)習(xí)了 Hammerstein模型理論�；诂F(xiàn)有的壓電陶瓷作動(dòng)器實(shí)物和相對(duì)應(yīng)的實(shí)驗(yàn)平臺(tái),采集壓電陶瓷作動(dòng)器輸入輸出數(shù)據(jù),經(jīng)過系統(tǒng)參數(shù)辨識(shí)建立了 Hammerstein模型,且和壓電作動(dòng)器實(shí)物相比模型的相對(duì)誤差很小,從實(shí)驗(yàn)上驗(yàn)證了建模方法的準(zhǔn)確性與可行性。第二個(gè)部分首先是使用工業(yè)上最常用的PID控制器對(duì)系統(tǒng)進(jìn)行控制,然后通過分析結(jié)果可以知道可能是由于參數(shù)調(diào)節(jié)不準(zhǔn)確或者是PID控制器本身的局限性這兩個(gè)原因?qū)е驴刂菩Ч缓�。然后引入神�?jīng)網(wǎng)絡(luò)PID控制器實(shí)現(xiàn)參數(shù)的在線調(diào)節(jié),然而跟蹤控制效果依然不好。從而可以分析得出,由于PID控制器本身的局限性導(dǎo)致對(duì)遲滯非線性系統(tǒng)跟蹤控制效果不好。因此在系統(tǒng)中加入了前饋環(huán)節(jié),通過前饋逆補(bǔ)償消除模型的遲滯非線性部分,即引入前饋逆補(bǔ)償+PID控制實(shí)現(xiàn)對(duì)壓電陶瓷作動(dòng)器的跟蹤控制,然后進(jìn)行實(shí)驗(yàn)驗(yàn)證。第三個(gè)部分引入了自抗擾控制器,首先是將壓電陶瓷作動(dòng)器的模型等效為一個(gè)二階系統(tǒng),然后利用這個(gè)二階系統(tǒng)設(shè)計(jì)出自抗擾控制器,對(duì)壓電陶瓷作動(dòng)器進(jìn)行跟蹤控制。最后的仿真和實(shí)驗(yàn)結(jié)果都表明自抗擾控制器可以比較好的跟蹤控制壓電陶瓷作動(dòng)器,最后比較了前饋逆補(bǔ)償+PID控制器和自抗擾控制器各自的優(yōu)缺點(diǎn)和適用范圍,它們各自有自己的特點(diǎn),一個(gè)是控制精度高,一個(gè)是應(yīng)用簡單適合工業(yè)應(yīng)用。
[Abstract]:As a kind of intelligent material, piezoelectric ceramic actuator has the characteristics of good piezoelectric effect, high resolution, fast reaction speed and low cost. It has been widely used in the fields of precision instruments, micro-displacement and micro-control. The hysteresis nonlinear characteristic of piezoelectric ceramic actuator itself is a kind of strong nonlinearity, and this hysteresis nonlinearity is rate dependent, which seriously affects the control accuracy and even leads to vibration of the control system, which restricts its application. In this paper, the Hammerstein model of piezoelectric actuator is established, then the tracking control problem of piezoelectric actuator is deeply studied, including the following aspects. In the first part, on the basis of analyzing and summarizing the modeling of piezoelectric ceramic actuator at home and abroad, the advantages, disadvantages and application scope of various models are analyzed, and the theory of Hammerstein model is deeply studied. Based on the existing piezoelectric actuators and corresponding experimental platforms, the input and output data of the piezoelectric actuators are collected. The Hammerstein model is established by system parameter identification, and the relative error of the model is very small compared with the piezoelectric actuators. The accuracy and feasibility of the modeling method are verified by experiments. The second part begins with the use of the most commonly used PID controllers in the industry to control the system. Then the analysis results show that the control effect may be poor due to the inaccurate parameter adjustment or the limitation of the PID controller itself. Then the neural network PID controller is introduced to realize the on-line adjustment of the parameters, however, the tracking control effect is still not good. As a result, it can be concluded that the tracking control effect of the PID controller is not good because of the limitation of the controller itself. Therefore, the feed-forward link is added to the system, and the hysteresis nonlinear part of the model is eliminated by the feed-forward inverse compensation, that is, the forward-feed inverse compensation PID control is introduced to realize the tracking control of the piezoelectric ceramic actuator, and then the experimental verification is carried out. In the third part, the auto-disturbance rejection controller is introduced. Firstly, the model of the piezoelectric ceramic actuator is equivalent to a second-order system, and then the self-disturbance rejection controller is designed with this second-order system to track and control the piezoelectric ceramic actuator. The simulation and experimental results show that the ADRC controller can well track and control the piezoelectric ceramic actuator. Finally, the advantages and disadvantages of the feedforward inverse compensation PID controller and the ADRC controller are compared. They have their own characteristics, one is high control accuracy, the other is simple application suitable for industrial applications.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM282

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