本文關鍵詞：基于自適應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》2015年碩士論文　論文類型：學位論文

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

【摘要】：壓電陶瓷執(zhí)行器是新型的微位移定位器件，由于其具有響應速度快、體積小、功耗低、結構簡單、無磨損、無噪聲、高位移分辨率等優(yōu)點，而被廣泛應用于微機電系統(tǒng)、精密定位、納米生物工程、航空航天、儀器儀表等領域。但同時壓電陶瓷具有遲滯、蠕變等非線性特性，其中遲滯非線性會嚴重影響系統(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)實驗平臺為研究對象，自適應濾波器與壓電陶瓷遲滯算子相結合，主要研究了基于自適應遞歸濾波器和自適應格型濾波器的壓電陶瓷執(zhí)行器遲滯非線性建模方法，并對其遲滯逆補償控制方法進行探討研究。 首先探討了自適應遞歸濾波器的建模方法，然后利用壓電陶瓷遲滯Backlash算子代替延時算子，建立新型的自適應遞歸濾波器模型，并在壓電陶瓷執(zhí)行器微定位系統(tǒng)實驗平臺上通過實驗驗證其遲滯建模能力。在此過程中，，采用最小均方(Least MeanSquare，LMS)自適應算法來調(diào)節(jié)濾波器權值。 然后，對自適應遞歸濾波器進行結構上的改進，提出了基于自適應格型濾波器的壓電陶瓷遲滯建模方法。研究了自適應格型濾波器建模方法，為了便于觀測建模效果，提出了梯度自適應格型聯(lián)合處理器的概念，其包含了梯度自適應格型濾波部分和線性LMS組合部分。并對算法進行改進，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算子代替延時算子組成新的自適應格型濾波器，并通過仿真驗證其遲滯建模能力。 此外，對文中建立的模型進行了控制算法的研究，介紹了自適應逆控制方法，主要探討了遲滯逆補償控制方法。在本文中主要運用了逆模型串聯(lián)補償閉環(huán)控制和逆模型前饋補償閉環(huán)控制，并在實驗平臺上進行實驗仿真，從而驗證了其控制效果。
[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.

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

【參考文獻】

相關期刊論文 前5條

1 賴志林;劉向東;耿潔;李黎;;壓電陶瓷執(zhí)行器遲滯的滑模逆補償控制[J];光學精密工程;2011年06期

2 趙彤,譚永紅;遲滯非線性動態(tài)系統(tǒng)神經(jīng)網(wǎng)絡自適應控制[J];計算機仿真;2004年08期

3 馬航,楊俊友,馬飛;基于神經(jīng)網(wǎng)絡的逆控制研究綜述[J];控制工程;2005年S1期

4 郭樹軍,姜長生;非線性系統(tǒng)的神經(jīng)網(wǎng)絡控制器設計[J];南京航空航天大學學報;2000年04期

5 榮偉彬;鄒

本文編號：1412654