【摘要】：壓電作動器具有率相關(guān)動態(tài)遲滯非線性特性,給傳統(tǒng)建模和控制技術(shù)提出了挑戰(zhàn).本文針對壓電作動器,提出了一種基于Bouc-Wen的Hammerstein率相關(guān)遲滯非線性模型,其中Bouc-Wen模型和線性動態(tài)模塊分別用于描述系統(tǒng)的靜態(tài)遲滯非線性特性和率相關(guān)特性.同時,構(gòu)造了一個基于Bouc-Wen模型的遲滯補償器,將遲滯補償器與被控對象串聯(lián)使系統(tǒng)線性化;并建立了不確定性系統(tǒng)模型,提出了一種H∞魯棒跟蹤控制方案,可以實現(xiàn)給定頻率范圍內(nèi)單頻率和復合頻率參考信號的良好跟蹤.實驗結(jié)果表明,所建動態(tài)模型具有良好的泛化能力,跟蹤控制相對誤差小于8%,證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，

本文編號：2523203