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Piezoelectric actuator hysteresis compensation method based on inner ring separation PI model

A piezoelectric driver and compensation method technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve the problems of low modeling accuracy and cannot meet the high-precision requirements of piezoelectric drivers, and achieve high compensation control accuracy, Good universality and development prospects, the effect of clear and simple logic

Active Publication Date: 2020-08-04
SHENYANG JIANZHU UNIVERSITY
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Problems solved by technology

The classical PI model can approximate the simple single-stage or single-loop hysteresis characteristics, but in the nonlinear characteristics of multiple inner-loop hysteresis exhibited by complex multi-stage voltages, the modeling accuracy of the classical PI model is low, and it cannot satisfy the compensation requirements for piezoelectric actuators. High precision requirements for control

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  • Piezoelectric actuator hysteresis compensation method based on inner ring separation PI model
  • Piezoelectric actuator hysteresis compensation method based on inner ring separation PI model
  • Piezoelectric actuator hysteresis compensation method based on inner ring separation PI model

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Embodiment Construction

[0048] A kind of piezoelectric actuator hysteresis compensation method based on inner ring separation PI model of the present invention, comprises:

[0049] Step 1: Obtain the experimental data of the multi-inner-loop hysteresis characteristics of the piezoelectric actuator under complex multi-segment voltages;

[0050] Step 2: Draw a complex hysteresis characteristic curve containing multi-level inner loops, and use the method of logical comparison to determine the characteristic endpoints of each inner loop of the complex hysteresis characteristic curve according to the variation law of the numerical value of the obtained experimental data, and divide the complex hysteresis characteristic curve separated into multi-level inner rings;

[0051] The classic PI model is easy to describe the simple hysteresis characteristics of a single segment or a single ring, but in the complex hysteresis characteristics with multiple inner rings, the hysteresis exhibited by each inner ring is...

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Abstract

The invention discloses a piezoelectric actuator hysteresis compensation method based on an inner ring separation PI model. In a modeling part, a classic PI model with few invertible parameters is still adopted, a logic comparison and judgment method is used for carrying out inner ring separation on hysteresis characteristics of multiple inner rings, then the models of the separated hysteresis characteristics of the inner rings are inversed one by one, and a purpose of compensating nonlinear characteristics is achieved with assistance of a feedforward control means. The method has very high compensation control precision, a judgment method is clear and simple in logic, the hysteresis inner ring is easy to separate, and hysteresis outer ring precision is improved while a high-precision control requirement of the hysteresis inner ring is met. The control method provided by the invention can be applied to precision machinery taking a piezoelectric actuator as motion output, eliminates theinfluence generated by inverse piezoelectric effect hysteresis characteristics of materials such as piezoelectric ceramics and the like in use, and has good universality and development prospect.

Description

technical field [0001] The invention belongs to the technical field of control engineering and relates to a hysteresis compensation method for a piezoelectric driver based on a PI model of inner ring separation. Background technique [0002] Control engineering technology is widely used in the field of precision mechanical engineering. Among them, the feedforward control method obtains the law through pre-experimentation and applies control means in front of the system to optimize the compensation effect. It is a commonly used compensation control method. Piezoelectric materials have an inverse voltage effect, that is, the amount of voltage applied to piezoelectric materials affects the nature of its expansion and contraction, making it widely used in piezoelectric actuators for precision motion control, but the hysteresis characteristics of the inverse piezoelectric effect affect the expected Micro displacement output. Therefore, feedforward control is an ideal compensati...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42Y02T90/00
Inventor 杨奕潇安冬须颖邵萌邹德芳
Owner SHENYANG JIANZHU UNIVERSITY
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