【摘要】：隨著科學(xué)技術(shù)和人類社會(huì)的不斷發(fā)展,傳統(tǒng)的定位技術(shù)在精度上已經(jīng)無(wú)法滿足人們的要求,因此超精密定位系統(tǒng)的研究越來(lái)越受到國(guó)內(nèi)外學(xué)者的重視。近年來(lái),雙級(jí)執(zhí)行器系統(tǒng)的廣泛應(yīng)用極大推動(dòng)了精密定位領(lǐng)域的發(fā)展,它能夠?qū)鹘y(tǒng)的單級(jí)執(zhí)行器與基于智能材料的高精度執(zhí)行器相結(jié)合,同時(shí)達(dá)到大行程和高精度的要求。本文的雙級(jí)執(zhí)行器由伺服電機(jī)和壓電陶瓷執(zhí)行器構(gòu)成,本文重點(diǎn)對(duì)基于壓電執(zhí)行器的第二級(jí)執(zhí)行器建立了數(shù)學(xué)模型并設(shè)計(jì)了控制器,通過(guò)設(shè)計(jì)基于空間濾波器的協(xié)同控制方案實(shí)現(xiàn)了兩級(jí)平臺(tái)的協(xié)調(diào)控制,主要內(nèi)容有:(1)對(duì)第二級(jí)執(zhí)行器建立數(shù)學(xué)模型引入動(dòng)態(tài)遲滯算子建立遲滯動(dòng)態(tài)模型。利用該算子將系統(tǒng)輸入拓展到三維空間,通過(guò)此三維空間將遲滯的多值映射轉(zhuǎn)換成單一映射。另外在標(biāo)準(zhǔn)極限學(xué)習(xí)機(jī)(ELM)的基礎(chǔ)上加入了局部線性嵌入(LLE)算法,提出了LLE-ELM算法,利用LLE-ELM對(duì)上述單一映射進(jìn)行逼近并建立遲滯動(dòng)態(tài)模型,本文所提出的LLE-ELM遲滯模型具有結(jié)構(gòu)簡(jiǎn)潔,精度高,可以在線調(diào)整的特點(diǎn)。(2)對(duì)第二級(jí)執(zhí)行器設(shè)計(jì)控制器針對(duì)一類含有backlash-like遲滯的全狀態(tài)受限的純反饋非線性系統(tǒng)設(shè)計(jì)了一種自適應(yīng)控制器。首先利用中值定理將純反饋系統(tǒng)轉(zhuǎn)換成嚴(yán)格反饋系統(tǒng)。其次通過(guò)引入障礙性李雅普諾夫函數(shù)(BLF)來(lái)解決全狀態(tài)受限問(wèn)題,并且利用RBF神經(jīng)網(wǎng)絡(luò)來(lái)近似逼近backlash-like遲滯中的類擾動(dòng)項(xiàng),最后利用反步控制法設(shè)計(jì)了自適應(yīng)控制器。仿真結(jié)果表明了該方案的可行性。(3)對(duì)雙級(jí)執(zhí)行器系統(tǒng)設(shè)計(jì)協(xié)同控制方法設(shè)計(jì)了一種基于空間濾波器的協(xié)同控制方法。通過(guò)此濾波器將信號(hào)分離成長(zhǎng)行程和短行程兩部分,兩級(jí)平臺(tái)可以根據(jù)分離之后的信號(hào)獨(dú)立地設(shè)計(jì)控制方案,第一級(jí)執(zhí)行器采用近似時(shí)間最優(yōu)控制完成大行程快速定位,第二級(jí)執(zhí)行器采用多層滑模自適應(yīng)控制完成微定位。本文提出的協(xié)同控制方法不但能大幅降低控制器設(shè)計(jì)的難度,而且能提高系統(tǒng)定位速度。實(shí)驗(yàn)結(jié)果說(shuō)明了該方案的可行性。
[Abstract]:With the development of science and technology and human society, the traditional positioning technology has been unable to meet the demands of people in the precision, so the research of the ultra-precision positioning system is more and more important to the domestic and foreign scholars. In recent years, the wide application of the two-stage actuator system has greatly promoted the development of the precise positioning field, which can combine the traditional single-stage actuator with the high-precision actuator based on the intelligent material, and simultaneously achieve the requirements of large-stroke and high-precision. The two-stage actuator of this paper is composed of a servo motor and a piezoelectric ceramic actuator. In this paper, the mathematical model of the second-stage actuator based on the piezoelectric actuator is established and the controller is designed. The coordinated control of the two-stage platform is realized by the design of the cooperative control scheme based on the spatial filter. The main contents are as follows: (1) The mathematical model of the second-stage actuator is introduced to introduce the dynamic hysteresis operator to set up the hysteresis dynamic model. The operator is used to expand the system input into a three-dimensional space, and the multi-value mapping of the hysteresis is converted into a single map by the three-dimensional space. In addition, on the basis of the standard limit learning machine (ELM), a local linear embedding (LLE) algorithm is added, the LLE-ELM algorithm is proposed, the single mapping is approximated by the LLE-ELM, and a hysteresis dynamic model is established. The LLE-ELM hysteresis model proposed in this paper has the advantages of simple structure and high precision. And can be adjusted on line. (2) A self-adaptive controller is designed for a class of pure-feedback non-linear systems with back-to-like hysteresis. First, a median theorem is used to convert the pure feedback system into a strict feedback system. Secondly, the whole state-limited problem is solved by the introduction of the Aplastic Lyapunov function (BLF), and the class-disturbance term in the background-like hysteresis is approximated by the RBF neural network, and the adaptive controller is designed by using the reverse-step control method. The simulation results show the feasibility of the scheme. (3) A cooperative control method based on spatial filter is designed for the design of the two-stage actuator system. the two-stage platform can independently design the control scheme according to the signal after the separation, the first-stage actuator can complete the large-stroke rapid positioning by using the approximate time optimal control, And the second-stage actuator adopts the multi-layer sliding mode adaptive control to complete the micro-positioning. The cooperative control method proposed in this paper can not only greatly reduce the difficulty of the design of the controller, but also improve the positioning speed of the system. The experimental results show the feasibility of the scheme.
【學(xué)位授予單位】：浙江理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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