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Predictive control method and predictive control device for piezoelectric ceramic actuator based on fuzzy TS (Takagi-Sugeno) model

A technology of predictive control and piezoelectric ceramics, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as large amount of calculation, influence of inverse model accuracy, difficulty in applying response speed to piezoelectric ceramic actuators, etc. , to achieve the effect of reducing the amount of calculation, reducing the burden of calculation, and real-time precise control

Active Publication Date: 2015-07-29
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0004] When the above method is used to control the piezoelectric ceramic actuator, it is necessary to obtain the inverse model of the hysteresis characteristic in the control process, which requires a large amount of calculation and is difficult to apply to the piezoelectric ceramic actuator with a fast response speed, especially for target tracking. The control performance of this method is unsatisfactory when the signal changes quickly; in addition, the hysteresis characteristic is closely related to the frequency of the voltage signal acting on the piezoceramic actuator, which further affects the accuracy of the inverse model

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  • Predictive control method and predictive control device for piezoelectric ceramic actuator based on fuzzy TS (Takagi-Sugeno) model
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  • Predictive control method and predictive control device for piezoelectric ceramic actuator based on fuzzy TS (Takagi-Sugeno) model

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Embodiment Construction

[0022] figure 1 It is a flow chart of Embodiment 1 of the predictive control method of the piezoelectric ceramic actuator based on the fuzzy TS model of the present invention, such as figure 1 Shown, the present invention is based on the predictive control method of the piezoelectric ceramic actuator of fuzzy TS model, comprises:

[0023] S101. Obtain the voltage displacement modeling data set of the piezoelectric ceramic actuator, preferably, including:

[0024] Obtain the voltage and displacement of the piezoelectric ceramic actuator, and express the voltage displacement data group in the form of the preceding vector:

[0025] X=[y(t-1),y(t-2),...,y(t-n y ),u(t),u(t-1),…,u(t-n u )]∈R p (1)

[0026] where n y is the maximum delay corresponding to the output y, n u is the maximum delay corresponding to the input quantity u, and the acquisition of the voltage and displacement of the piezoelectric ceramic actuator includes:

[0027] Converting the voltage excitation s...

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Abstract

The invention provides a predictive control method and a predictive control device for a piezoelectric ceramic actuator based on a fuzzy TS (Takagi-Sugeno) model. The method comprises the steps of acquiring a voltage displacement modeling data set of the piezoelectric ceramic actuator; performing fuzzy clustering on a voltage displacement sample data set according to the fuzzy TS model, acquiring a plurality of linear sub rules, and acquiring parameters of each linear sub rule according to a least square identification method; determining a sub predictive control law corresponding to each linear sub rule under a performance index optimum condition; acquiring a voltage displacement predictive data set of the piezoelectric ceramic actuator in a sampling period; and performing weighted average on the sub predictive control laws, acquiring a final predictive control law and using the final predictive control law as a control output function. The predictive control method provided by the invention can realize real-time and accurate control for the piezoelectric ceramic actuator.

Description

technical field [0001] The invention relates to the field of nano-positioning, in particular to a predictive control method and device for a piezoelectric ceramic actuator based on a fuzzy TS model. Background technique [0002] Piezoelectric ceramic actuators have high load capacity, large drive capacity, and high-precision positioning resolution, and can realize nanoscale manipulation. They are widely used in microsystems, communications, semiconductor technology, biotechnology, and aerospace technology. It is the core component of micro-assembly system, atomic force microscope or high-precision positioning operation surgical equipment. [0003] In the existing technology, the hysteresis compensation control based on the inverse model is the most widely used control method for piezoelectric ceramic actuators. This method first establishes the positive model of the hysteresis characteristic, and then obtains the inverse model of the hysteresis characteristic from the positi...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 程龙侯增广谭民刘伟川
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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