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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Rate Dependent Krasnoselskii-Pokrovskii Modeling and Inverse Compensation Control of Piezoceramic Actuated Stages
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Rate Dependent Krasnoselskii-Pokrovskii Modeling and Inverse Compensation Control of Piezoceramic Actuated Stages

机译：速率依赖性Krasnoselskii-pokrovskii建模与压电类驱动阶段的逆补偿控制

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摘要

The piezoceramic actuated stages have rate-dependent hysteresis nonlinearity, which is not simply related to the current and historical input, but also related to the frequency of the input signal, seriously affects its positioning accuracy. Consider the influence of frequency on hysteresis modeling, a rate-dependent hysteresis nonlinearity model that is based on Krasnoselskii–Pokrovskii (KP) operator is proposed in this paper. A hybrid optimization algorithm of improved particle swarm optimization and cuckoo search is employed in order to identify the density function of rate-dependent KP model, avoiding the blind search process caused by the high randomness of Levy’s flight in the cuckoo search algorithm, and improving the parameter identification performance. For the sake of eliminating the hysteresis characteristics, an inverse feed-forward compensation control that is based on recursive method is proposed without any additional conditions, and a feed-forward compensation controller is designed accordingly. The experimental results show that, under different frequency input signals, as compared with the classic KP model, the proposed rate-dependent KP model can accurately describe the rate-dependent hysteresis characteristics of the piezoceramic actuated stages, and the recursive inverse feed-forward compensation control method can effectively mitigate the hysteresis behaviors.
机译：压电织式致动阶段具有依赖依赖性滞后非线性，其与电流和历史输入不相关，而且与输入信号的频率相关，严重影响其定位精度。考虑频率对滞后建模的影响，本文提出了一种基于Krasnoselskii-Pokrovskii（KP）操作员的速率依赖性滞后非线性模型。采用改进粒子群优化和杜鹃搜索的混合优化算法，以识别速率相关KP模型的密度函数，避免卢比搜索算法中征收飞行的高随机性引起的盲搜查过程，提高了参数识别性能。为了消除滞后特性，提出了一种基于递归方法的反向前馈补偿控制，而没有任何额外的条件，并且相应地设计了前馈补偿控制器。实验结果表明，在不同的频率输入信号下，与经典KP模型相比，所提出的速率相关的KP模型可以准确地描述压电陶瓷致动阶段的速率依赖性滞后特性，以及递归反馈补偿控制方法可以有效地减轻滞后行为。

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