Model-free tracking control method for piezoelectric ceramic actuators and medium

A piezoelectric ceramic, tracking control technology, applied in the field of follow-up control, to achieve the effect of wide dynamic response range, good tracking accuracy, and accurate phase tracking

Active Publication Date: 2019-11-01
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is: the present invention aims at the performance of piezoelectric ceramic actuators caused by nonlinear characteristics such as hysteresis and creep, slow time-varying characteristics and individual differences, and long-term in-orbit harsh environments. Degradation characteristics and limited resources

Method used

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  • Model-free tracking control method for piezoelectric ceramic actuators and medium
  • Model-free tracking control method for piezoelectric ceramic actuators and medium
  • Model-free tracking control method for piezoelectric ceramic actuators and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0051] A method for model-free tracking control of a piezoelectric ceramic actuator, comprising the steps of:

[0052] S1, based on the cumulant c(t) of the rotational speed pulse signal of the rotor of the external flywheel or the control torque gyroscope, the rotational speed frequency f of the rotor at any time t in the process of variable speed or steady speed is obtained by the method of least squares; then according to the obtained Describe the dynamic and static unbalance of the bearing structure and the rotor in the rotor, and estimate the micro-vibration frequency component f at any time i ;

[0053] S2, based on the displacement reference control signal x(t), the micro-vibration frequency component f described in S1 i , using the robust regression method to estimate the effect of the displacement reference control signal x(t) on the micro-vibration frequency component f i The coefficients of the linear representation of the sine-cosine basis functions of

[0054...

Embodiment 2

[0059] A computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the method described in Embodiment 1 are realized.

Embodiment 3

[0061] The invention provides a model-free tracking control method for piezoelectric ceramic actuators, such as figure 1 As shown in the block diagram of the control system in the present invention, it includes the following links:

[0062] (1) PI preliminary tracking control

[0063] PID control has prominent advantages such as good object adaptability and parameter robustness. In view of the nonlinear characteristics of piezoelectric ceramic actuators such as hysteresis and creep, and their long-term exposure to harsh space environment tests such as radiation, resulting in their performance degrading over time, and the specific characteristics of different individuals are different, the use of PID Preliminary displacement tracking control, and when the PID parameters are adjusted properly, the stability and robustness of the control system can be guaranteed without the piezoelectric ceramic actuator model, and the piezoelectric ceramic actuator can be controlled to a certai...

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Abstract

The invention discloses a model-free tracking control method for piezoelectric ceramic actuators and a medium, relates to a robust regression prediction, PI control and self-adaptive inverse-based combined tracking control method, and belongs to the technical field of follow-up control. According to the method, the sine and cosine functions of main orders in micro vibration are taken as primary functions, robust regression is utilized to regress a reference control signal, and a regression value is utilized to predict a practical control signal so as to realize advanced control; the inner ringadopts PI control so as to realize preliminary smooth tracking, for the advanced control signal, of a piezoelectric ceramic; through calculating cross-correlation functions of the response of the piezoelectric ceramic and the reference control signal, an advanced quantity, for the reference control signal, of the response is estimated to adjust the delayed beat number of the pure lag links in a controller, thereby realizing the synchronization of the response of the piezoelectric ceramic and the reference control signal; and through calculating a linear relationship, for the reference controlsignal, of the response, the gain and zero offset of the controller are corrected by utilizing a correction coefficient, so that the amplitude tracking, for the reference control signal, of the response is realized.

Description

technical field [0001] The invention relates to a model-free tracking control method and medium of a piezoelectric ceramic actuator, belonging to the technical field of servo control. Background technique [0002] During the rotation of the flywheel or the rotor in the control moment gyroscope, it will produce wide-band micro-amplitude vibration, which will become one of the main vibration sources of the spacecraft, affecting the ultra-static and ultra-stable performance of the spacecraft, and also to a certain extent. Accuracy The attitude measurement accuracy of precision instruments such as star sensors and the imaging quality of high-resolution cameras. The vibration reduction based on the structure has little effect, and the vibration isolation on the vibration transmission path can receive a relatively ideal effect, including passive vibration isolation and active vibration isolation, and active and passive integrated vibration isolation. Among them, passive vibration...

Claims

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Application Information

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IPC IPC(8): G05D19/02
CPCG05D19/02
Inventor 罗睿智张激扬张强卿涛战榆莉樊亚洪王晓伟展毅李公军刘红星李林峰吴硕
Owner BEIJING INST OF CONTROL ENG
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