本文關(guān)鍵詞： 壓電執(zhí)行器 動(dòng)態(tài)蠕變 蠕變特性建模 遲滯特性 蠕變特性抑制　出處：《山東大學(xué)》2016年博士論文　論文類型：學(xué)位論文

【摘要】：壓電執(zhí)行器是由智能材料構(gòu)成的固態(tài)執(zhí)行器,因具有亞納米級(jí)位移分辨率而得以在超精密定位的場(chǎng)合廣泛應(yīng)用。對(duì)壓電執(zhí)行器內(nèi)在的遲滯、蠕變、振動(dòng)和漂移四種非線性,研究人員從宏觀和微觀兩個(gè)方面進(jìn)行了深入的工程實(shí)驗(yàn)和理論研究,得到了許多建模與控制的有效方法。目前對(duì)于遲滯的靜態(tài)特性(率無關(guān))和動(dòng)態(tài)特性(率相關(guān))的研究已日趨成熟,蠕變的靜態(tài)特性(穩(wěn)態(tài)段和單臺(tái)階)研究也有很好的抑制方法,但蠕變的動(dòng)態(tài)特性(暫態(tài)段和多臺(tái)階)方面的研究還亟待解決。本文以壓電執(zhí)行器的蠕變特性為研究對(duì)象,在證實(shí)蠕變現(xiàn)象具有動(dòng)態(tài)變化的基礎(chǔ)上,對(duì)動(dòng)態(tài)蠕變的特性進(jìn)行分析和建模,并且研究了動(dòng)態(tài)蠕變的抑制方法。首先研究了壓電執(zhí)行器在低頻大范圍下的蠕變動(dòng)態(tài)特性,然后根據(jù)假說研究了遲滯與蠕變分離點(diǎn);為了抑制動(dòng)態(tài)蠕變,研究了雙向小幅值電壓尖峰對(duì)動(dòng)態(tài)蠕變的抑制作用,接下來使用模糊PI復(fù)合控制器對(duì)不同離散化作用下的動(dòng)態(tài)蠕變抑制作用,最后基于壓電執(zhí)行器是本質(zhì)分?jǐn)?shù)階對(duì)象的特點(diǎn),研究了分?jǐn)?shù)階復(fù)合控制器對(duì)動(dòng)態(tài)蠕變的抑制作用。主要?jiǎng)?chuàng)新點(diǎn)如下:1、證實(shí)了低速大范圍條件下壓電執(zhí)行器的蠕變動(dòng)態(tài)現(xiàn)象;闡述了動(dòng)態(tài)蠕變的含義;得到了動(dòng)態(tài)蠕變的基本變化規(guī)律;改進(jìn)了 log-type和反比例函數(shù)模型并證實(shí)了其參數(shù)的遲滯性;提出了在低速大范圍條件下,蠕變與遲滯分離點(diǎn)假說,并設(shè)計(jì)了函數(shù)模型,證實(shí)了其可前推性。2、基于尖峰電壓的方向?qū)θ渥円种频闹匾绊?通過實(shí)驗(yàn)發(fā)現(xiàn)了尖峰電壓對(duì)壓電執(zhí)行器非線性抑制的優(yōu)化方向;受滑模等智能算法在臺(tái)階電壓開始處產(chǎn)生的尖峰電壓?jiǎn)l(fā),發(fā)現(xiàn)了開環(huán)條件下尖峰電壓幅值的大小、方向以及間隔時(shí)間的長(zhǎng)短對(duì)臺(tái)階蠕變的影響規(guī)律,即尖峰電壓幅值對(duì)動(dòng)態(tài)蠕變有非線性影響,存在最優(yōu)值:發(fā)現(xiàn)了尖峰持續(xù)時(shí)間增長(zhǎng)有利于降低尖峰電壓幅值。3、結(jié)合控制經(jīng)驗(yàn)設(shè)計(jì)了模糊PI復(fù)合控制器,實(shí)現(xiàn)了對(duì)率無關(guān)遲滯和動(dòng)態(tài)蠕變同時(shí)抑制;證實(shí)了微分對(duì)壓電執(zhí)行器抑制的效果;提出了合理的模糊控制規(guī)則;設(shè)計(jì)直接逆方法作為前饋控制器保證了控制的快速性,并通過實(shí)驗(yàn)證實(shí)該控制器能夠同時(shí)有效抑制率無關(guān)遲滯和動(dòng)態(tài)蠕變。4、結(jié)合壓電執(zhí)行器具有本質(zhì)分?jǐn)?shù)階特性和經(jīng)典PID的優(yōu)點(diǎn),設(shè)計(jì)分?jǐn)?shù)階復(fù)合控制器,解決了其他算法在臺(tái)階電壓開始處抑制壓電執(zhí)行器非線性時(shí)會(huì)產(chǎn)生較大幅值尖峰電壓的問題;結(jié)合遲滯直接逆實(shí)現(xiàn)了動(dòng)態(tài)蠕變的抑制,所提復(fù)合控制器具有反應(yīng)速度快,跟蹤精度高,對(duì)蠕變暫態(tài)段的超調(diào)電壓具有很好的抑制能力。對(duì)壓電執(zhí)行器動(dòng)態(tài)蠕變的特性分析與控制研究是對(duì)其內(nèi)在非線性研究的深化,研究結(jié)果有助于推動(dòng)壓電執(zhí)行器在低速大范圍下的應(yīng)用;蠕變與遲滯分離點(diǎn)的研究對(duì)壓電執(zhí)行器遲滯與蠕變依時(shí)間順序劃分具有重要的理論價(jià)值。
[Abstract]:Piezoelectric actuators are solid-state actuators made of smart materials, which are widely used in ultra-precision positioning due to their subnanoscale displacement resolution. The inherent nonlinearity of piezoelectric actuators is hysteresis, creep, vibration and drift. The researchers carried out deep engineering experiments and theoretical studies from both macro and micro aspects. Many effective modeling and control methods have been obtained. At present, the research on static (rate-independent) and dynamic (rate-dependent) characteristics of hysteresis has become more and more mature. The static characteristics of creep (steady state and single step) also have a good suppression method, but the dynamic characteristics of creep (transient and multi-step) still need to be studied urgently. In this paper, the creep characteristics of piezoelectric actuators are taken as the object of study. On the basis of confirming the dynamic change of creep phenomenon, the dynamic creep characteristics are analyzed and modeled, and the suppression method of dynamic creep is studied. Firstly, the creep dynamic characteristics of piezoelectric actuator in a wide range of low frequency range are studied. Then the separation point of hysteresis and creep is studied according to the hypothesis, and in order to suppress dynamic creep, the inhibition of bidirectional small voltage spike on dynamic creep is studied. Then the fuzzy Pi composite controller is used to suppress the dynamic creep under different discretization. Finally, based on the characteristic that piezoelectric actuator is the essential fractional object, The effect of fractional order composite controller on dynamic creep is studied. The main innovations are as follows: 1. The creep dynamic phenomenon of piezoelectric actuator under low speed and large range is confirmed, and the meaning of dynamic creep is expounded. The basic variation law of dynamic creep is obtained, the log-type and inverse proportional function model are improved and the hysteresis of its parameters is confirmed, the hypothesis of separation point between creep and hysteresis is proposed under the condition of low speed and large range, and the function model is designed. Based on the important influence of the direction of peak voltage on creep suppression, the optimized direction of peak voltage for nonlinear suppression of piezoelectric actuator is found through experiments. Inspired by the peak voltage generated at the beginning of step voltage by intelligent algorithms such as sliding mode, the effects of amplitude, direction and interval of peak voltage on step creep under open-loop conditions are found. That is, the amplitude of peak voltage has nonlinear influence on dynamic creep, and there is an optimum value. It is found that the increase of peak duration is beneficial to decrease the amplitude of peak voltage. A fuzzy Pi compound controller is designed based on the control experience. It realizes the simultaneous suppression of rate-independent hysteresis and dynamic creep, verifies the effect of differential suppression on piezoelectric actuators, puts forward reasonable fuzzy control rules, and designs direct inverse methods as feedforward controllers to ensure the control speed. It is proved by experiments that the controller can effectively suppress both rate-independent hysteresis and dynamic creep. Combined with the essential fractional order characteristic of piezoelectric actuator and the advantages of classical PID, a fractional order composite controller is designed. It solves the problem that when the step voltage starts to suppress the nonlinearity of piezoelectric actuator, other algorithms will produce a large amplitude peak voltage, combined with hysteresis direct inverse to achieve the suppression of dynamic creep, the proposed composite controller has fast reaction speed. The tracking accuracy is high and the overshoot voltage of creep transient section can be restrained well. The study of dynamic creep characteristic analysis and control of piezoelectric actuator is the deepening of its intrinsic nonlinear research. The results are helpful to promote the application of piezoelectric actuators in a large range of low speed, and the study of the separation points of creep and hysteresis has important theoretical value for the division of hysteresis and creep according to the time sequence of piezoelectric actuators.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP215

【相似文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 趙學(xué)良;低速大范圍下壓電執(zhí)行器動(dòng)態(tài)蠕變特性分析與控制方法研究[D];山東大學(xué);2016年

相關(guān)碩士學(xué)位論文 前1條

1 高二利;瀝青混合料的單軸貫入模量與動(dòng)態(tài)蠕變模量的關(guān)系[D];重慶交通大學(xué);2012年

，

本文編號(hào)：1509210