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Micro-positioning platform based on piezoelectric ceramic driving and modeling and control method thereof

A piezoelectric ceramic drive, micro-positioning platform technology, applied in general control systems, control/regulation systems, simulators, etc., can solve the problems of increasing control signal oscillation, not considering inverse compensation errors and modeling errors, etc., to achieve Stable control, guaranteed modeling accuracy, and high identification accuracy

Pending Publication Date: 2020-05-12
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the inverse compensation error and modeling error are not considered in the design process of the PID controller, and the constant gain of the sliding mode control will increase the oscillation of the control signal, which will easily cause high-frequency unmodeled dynamics of the system

Method used

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  • Micro-positioning platform based on piezoelectric ceramic driving and modeling and control method thereof
  • Micro-positioning platform based on piezoelectric ceramic driving and modeling and control method thereof
  • Micro-positioning platform based on piezoelectric ceramic driving and modeling and control method thereof

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Embodiment 1

[0072] In this embodiment, a micro-positioning platform based on piezoelectric ceramic drive is provided. For details, please refer to image 3 , is the structural block diagram of the micro-positioning platform, including:

[0073] Hardware part: industrial computer 1, and it is provided with controller inside; Piezoelectric ceramic drive power supply 2, and it is connected with displacement sensor; Data acquisition card 3 and precision positioning table 4;

[0074] Software part: the Simulink software loaded in the industrial computer, and based on the software part, the communication connection between the industrial computer 1 and the data acquisition card 3 is realized to form a closed-loop deviation control.

[0075] Specifically, in this embodiment, based on the structural form of the micro-positioning platform disclosed above, the working principle of the micro-positioning platform is as follows: the controller of the industrial computer 1 is customized based on the Si...

Embodiment 2

[0077] This embodiment provides a kind of modeling method based on the micro-positioning platform driven by piezoelectric ceramics, and its micro-positioning platform is the micro-positioning platform in the above-mentioned embodiment one, and the modeling method adopts the Hammerstein model such as Figure 4 As shown, as the modeling basis, and includes the following modeling steps:

[0078] S1. Construct a static nonlinear function based on the Bouc-Wen model, and adopt the particle swarm algorithm to identify its unknown parameters in the model; the mathematical expression of the Bouc-Wen model is:

[0079]

[0080] Among them, u is the driving voltage of the control signal, v is the output displacement signal, h is the hysteresis item of the model, d is the gain, α is the amplitude of the control hysteresis loop, β, γ control the shape of the hysteresis loop; and d, α, Both β and γ are unknown parameters in the Bouc-Wen model; specifically, in the above expression, ther...

Embodiment 3

[0117] This embodiment provides a control method for a micro-positioning platform driven by piezoelectric ceramics. The micro-positioning platform is the micro-positioning platform in the first embodiment above. The control method adopts a composite control method of feedforward control and feedback control, and Including the following control steps:

[0118] S1. Feedforward control: based on the inverse Bouc-Wen model to compensate the static hysteresis of the micro-positioning platform;

[0119] S2. Feedback control: based on H ∞ The controller suppresses model uncertainty and external disturbances.

[0120] Specifically, the compound control block diagram formed by the control method provided in this embodiment can be referred to Figure 10 shown, where x d is the reference input, N -1 is the inverse Bouc-Wen model, k is the constant gain, N is the Bouc-Wen model, G(s) is the linear dynamic model, K(s) is H ∞ controller.

[0121] As mentioned above, the inverse Bouc-...

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Abstract

The invention belongs to the technical field of micro-positioning platforms. The invention discloses a micro-positioning platform based on piezoelectric ceramic driving and a modeling and control method thereof. The micro-positioning platform comprises a hardware part and a software part, the software part comprises Simulink software loaded in an industrial personal computer, and communication connection between the industrial personal computer and a data collection card is realized based on the software part to form closed-loop deviation control; the modeling method adopts a Hammerstein modelas a modeling basis, and comprises a static nonlinear part and a linear dynamic part: constructing a static nonlinear function based on a Boc-Wen model, and identifying unknown parameters of the model by adopting a particle swarm algorithm; a linear dynamic model is constructed, the model is equivalent to a linear second-order time-invariant system, and a Matlab recognition toolbox is adopted inthe model to obtain parameters; according to the control method, a composite control mode of feedforward control and feedback control is adopted; in conclusion, the high-precision positioning device has a high-precision positioning effect.

Description

technical field [0001] The invention belongs to the technical field of micro-positioning platforms, and in particular relates to a micro-positioning platform driven by piezoelectric ceramics and a modeling and control method thereof. Background technique [0002] Micro-positioning platforms driven by piezoelectric ceramics are currently widely used in the field of high-precision micro-nano-scale processing and manufacturing due to their advantages of no friction, low energy consumption, high positioning accuracy, large driving force, and fast response. However, due to the rate-dependent hysteresis characteristic of piezoelectric ceramics, it will seriously reduce the control accuracy of the system, and even cause system instability, which limits its application field. Therefore, it is of great significance to model and analyze the hysteresis characteristics of piezoelectric ceramics to achieve high-precision control. [0003] At present, scholars at home and abroad have pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 于树友冯阳阳李建普陈虹
Owner JILIN UNIV
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