本文關(guān)鍵詞：基于自適應(yīng)濾波器的壓電陶瓷執(zhí)行器遲滯建模及逆控制　出處：《北京理工大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 壓電陶瓷執(zhí)行器 遲滯 Backlash算子 自適應(yīng)濾波器 自適應(yīng)逆控制

【摘要】：壓電陶瓷執(zhí)行器是新型的微位移定位器件，由于其具有響應(yīng)速度快、體積小、功耗低、結(jié)構(gòu)簡單、無磨損、無噪聲、高位移分辨率等優(yōu)點(diǎn)，而被廣泛應(yīng)用于微機(jī)電系統(tǒng)、精密定位、納米生物工程、航空航天、儀器儀表等領(lǐng)域。但同時(shí)壓電陶瓷具有遲滯、蠕變等非線性特性，其中遲滯非線性會(huì)嚴(yán)重影響系統(tǒng)的控制精度，研究壓電陶瓷執(zhí)行器遲滯特性的建模及其控制具有重要的意義。 本文以壓電陶瓷執(zhí)行器微定位系統(tǒng)實(shí)驗(yàn)平臺為研究對象，自適應(yīng)濾波器與壓電陶瓷遲滯算子相結(jié)合，主要研究了基于自適應(yīng)遞歸濾波器和自適應(yīng)格型濾波器的壓電陶瓷執(zhí)行器遲滯非線性建模方法，并對其遲滯逆補(bǔ)償控制方法進(jìn)行探討研究。 首先探討了自適應(yīng)遞歸濾波器的建模方法，然后利用壓電陶瓷遲滯Backlash算子代替延時(shí)算子，建立新型的自適應(yīng)遞歸濾波器模型，并在壓電陶瓷執(zhí)行器微定位系統(tǒng)實(shí)驗(yàn)平臺上通過實(shí)驗(yàn)驗(yàn)證其遲滯建模能力。在此過程中，，采用最小均方(Least MeanSquare，LMS)自適應(yīng)算法來調(diào)節(jié)濾波器權(quán)值。 然后，對自適應(yīng)遞歸濾波器進(jìn)行結(jié)構(gòu)上的改進(jìn)，提出了基于自適應(yīng)格型濾波器的壓電陶瓷遲滯建模方法。研究了自適應(yīng)格型濾波器建模方法，為了便于觀測建模效果，提出了梯度自適應(yīng)格型聯(lián)合處理器的概念，其包含了梯度自適應(yīng)格型濾波部分和線性LMS組合部分。并對算法進(jìn)行改進(jìn)，采用歸一化LMS算法，從而提高建模精度和收斂速度。最后用Backlash算子代替延時(shí)算子組成新的自適應(yīng)格型濾波器，并通過仿真驗(yàn)證其遲滯建模能力。 此外，對文中建立的模型進(jìn)行了控制算法的研究，介紹了自適應(yīng)逆控制方法，主要探討了遲滯逆補(bǔ)償控制方法。在本文中主要運(yùn)用了逆模型串聯(lián)補(bǔ)償閉環(huán)控制和逆模型前饋補(bǔ)償閉環(huán)控制，并在實(shí)驗(yàn)平臺上進(jìn)行實(shí)驗(yàn)仿真，從而驗(yàn)證了其控制效果。
[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.

【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TQ174.75;TN713

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本文編號：1412654