A model-free tracking control method and medium for a piezoelectric ceramic actuator

A piezoelectric ceramic and tracking control technology, which is applied in the field of servo control to achieve good tracking accuracy, wide dynamic response range, and accurate phase tracking

Active Publication Date: 2021-04-13
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 such as the computing power of controllers in aerospace products, and require aerospace products to operate with high precision and stability under long-term unsupervised conditions, but existing technologies are difficult to effectively overcome the above problems at the same time Fast and accurate tracking of actuators to highly dynamic reference control signals

Method used

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  • A model-free tracking control method and medium for a piezoelectric ceramic actuator
  • A model-free tracking control method and medium for a piezoelectric ceramic actuator
  • A model-free tracking control method and medium for a piezoelectric ceramic actuator

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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 implemented.

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

A model-free tracking control method and medium for piezoelectric ceramic actuators, that is, a composite tracking control method based on the combination of robust regression prediction, PI control and adaptive inverse control. The sine and cosine functions of the main order in the micro-vibration are used as the base function, and the reference control signal is regressed by robust regression, and the actual control signal is predicted by the regression value to realize advanced control; the inner loop adopts PI control to realize piezoelectric ceramics Preliminary smooth tracking of the leading control signal; by calculating the cross-correlation function of the response of the piezoelectric ceramic and the reference control signal, the lead of the response to the reference control signal is estimated, which is used to adjust the delay beats of the pure lag link in the controller. The electroceramic response is synchronized with the reference control signal; by calculating the linear relationship between the response and the reference control signal, the estimated coefficient is used to correct the gain and zero bias of the controller, so as to realize the amplitude tracking of the response to the reference control signal; it belongs to the technical field of servo control.

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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Patent Type & Authority Patents(China)
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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