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首页> 外文期刊>Mechanical systems and signal processing >Fractional robust adaptive decoupled control for attenuating creep, hysteresis and cross coupling in a parallel piezostage
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Fractional robust adaptive decoupled control for attenuating creep, hysteresis and cross coupling in a parallel piezostage

机译：用于衰减蠕变，滞后和交叉耦合的分数鲁棒自适应解耦控制

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摘要

Parallel micropositioning piezostages are widely used in the micro/nano-manipulation applications, but also subject to the nonlinear disturbances, like hysteresis, creep and cross-coupling effects. In this paper, a new fractional robust adaptive decoupled control (FRADC) is synthesized for a six-axis parallel micropositioning piezostage to improve the positioning accuracy. The proposed FRADC contains three intuitional terms: (1) a decoupling term that alleviates the coupled motions among different axes, making the controller implementation more convenient and efficient; (2) a feedforward compensation term based on a fractional normalized Bouc-Wen (FONBW) model, compensating for the rate-dependent hysteresis effect induced by the piezoelectric actuators; (3) a feedback model reference adaptive control (MRAC) term with fractional proportional-plus-integral-type updating rules that suppresses the creep effect, parameters uncertainty and external disturbances, further enhancing the robustness and positioning accuracy. The stability of the closed-loop system is analyzed in theory. The effectiveness of the proposed FRADC is experimentally validated by comparing with the standalone inverse-FONBW-based feedforward control, the standalone feedback fractional MRAC, and the traditional integer-order control methods. Results demonstrate that the proposed FRADC can guarantee higher positioning accuracy for the piezostage system in wider control bandwidth.
机译：平行的微定位压阻广泛用于微/纳米操纵应用中，但也受到非线性干扰，如滞后，蠕变和交叉耦合效果。在本文中，合成了一种新的分数鲁棒自适应解耦控制（FRADC），用于六轴平行的微定位压电管以提高定位精度。建议的FRADC包含三个直觉术语：（1）解耦术语，减轻了不同轴之间的耦合运动，使控制器实现更方便，高效; （2）基于分数归一化BOUC-WEN（FONBW）模型的前馈补偿项，补偿压电执行器引起的速率依赖性滞后效果; （3）反馈模型参考自适应控制（MRAC）术语具有分数比例 - 加积分式更新规则，抑制蠕变效应，参数不确定性和外部干扰，进一步增强了鲁棒性和定位精度。理论上分析了闭环系统的稳定性。通过与基于独立的逆向FONW的前馈控制，独立反馈分数MRAC和传统的整数控制方法进行了实验验证了所提出的FRADC的有效性。结果表明，所提出的FRADC可以保证更广泛控制带宽中压电系统的更高定位精度。

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  • 来源
    《Mechanical systems and signal processing》 |2021年第10期|107764.1-107764.22|共22页
  • 作者

    Shengzheng Kang; Hongtao Wu; Xiaolong Yang; Yao Li; Liang Pan; Bai Chen;

  • 作者单位

    College of Mechanical and Electrical Engineering. Nanjing University of Aeronautics and Astronautics 29 Yudao Street Qinhuai District Nanjing 210016 China;

    College of Mechanical and Electrical Engineering. Nanjing University of Aeronautics and Astronautics 29 Yudao Street Qinhuai District Nanjing 210016 China;

    School of Mechanical Engineering Nanjing University of Science and Technology 200 Xiaolingwei Street Xuanwu District Nanjing 210094 China;

    Industrial Center School of Innovation and Entrepreneurship Nanjing Institute of Technology 1 Hongjing Avenue jiangning District Nanjing 211167 China;

    College of Mechanical and Electrical Engineering. Nanjing University of Aeronautics and Astronautics 29 Yudao Street Qinhuai District Nanjing 210016 China;

    College of Mechanical and Electrical Engineering. Nanjing University of Aeronautics and Astronautics 29 Yudao Street Qinhuai District Nanjing 210016 China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Piezoelectric device; Adaptive control; Fractional order; Creep; Hysteresis; Cross coupling;

    机译：压电装置;自适应控制;分数;蠕动;滞后;交叉耦合;

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