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Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy System

机译：基于简化区间2型模糊系统的压电执行器磁滞建模与前馈控制

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摘要

The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically computed with the antecedent part of IT2 fuzzy rule specifically designed. In the experiments, gradient based optimization was used to identify the IT2 fuzzy hysteresis model. Results showed that the maximum error of model identification is 0.42% with only 3 developed IT2 fuzzy rules. Moreover, the model validation was conducted to demonstrate the generalization performance of the identified model. Based on the analytic inverse of the developed model, feedforward control experiment for tracking sinusoidal trajectory of 20 Hz was carried out. As a result, the hysteresis effect of the piezoelectric actuator was reduced with the maximum tracking error being 4.6%. Experimental results indicated an improved performance of the proposed IT2 fuzzy system for hysteresis modelling and feedforward control of the piezoelectric actuator.
机译：压电致动器对于驱动微操纵器是必不可少的。本文提出了一种简化的区间2型（IT2）模糊系统，用于压电执行器的滞后建模和前馈控制。可以使用专门设计的IT2模糊规则的前一部分来分析计算IT2模糊系统的输出相对于建模参数的偏导数。在实验中，基于梯度的优化用于识别IT2模糊滞后模型。结果表明，只有3个已开发的IT2模糊规则，模型识别的最大误差为0.42％。此外，进行了模型验证以证明所识别模型的泛化性能。基于所开发模型的解析逆，进行了跟踪20 Hz正弦轨迹的前馈控制实验。结果，减小了压电致动器的磁滞效应，最大跟踪误差为4.6％。实验结果表明，所提出的IT2模糊系统对压电执行器的滞后建模和前馈控制具有改进的性能。

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