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Adaptive trajectory tracking of magnetostrictive actuator based on preliminary hysteresis compensation and further adaptive filter controller

机译：基于初步滞后补偿的磁致伸缩执行器和进一步自适应滤波器控制器的自适应轨迹跟踪

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摘要

The magnetostrictive actuator is a widely used precision smart actuator; however, the micro-positioning and tracking performance of it is limited due to the inherent dynamic nonlinearities. In order to improve the tracking performance of actuator, a hybrid control strategy comprising a preliminary rate-independent hysteresis compensation and a further adaptive filter controller is developed. The generalized Prandtl-Ishlinskii model that has analytical inversion is used to preliminarily compensate the rate-independent hysteresis. A modified coral reef optimization algorithm is utilized to identify the model parameter and accordingly enhance the compensation accuracy. In addition, considering the input current and output displacement of magnetostrictive actuator are always positive, a one-side generalized play operator is adopted. Further, the adaptive finite impulse response controller is applied to eliminate the preliminary compensation error which is owing to the dynamic effect of nonlinearities. In order to validate the hybrid control strategy, some simulations and experiments are conducted. Compared with the feedforward inverse controller, the hybrid control strategy is of better accuracy and adaptivity. The results demonstrate that the hybrid control strategy is capable of precisely tracking step and multiple-frequency sinusoidal trajectory.
机译：磁致伸缩执行器是一种广泛使用的精密智能执行器;然而，由于固有的动态非线性，它的微定位和跟踪性能受到限制。为了提高致动器的跟踪性能，开发了包括初步速率无关滞后补偿和另一自适应滤波器控制器的混合控制策略。具有分析倒置的广义普朗特-Ishlinskii模型用于预先补偿速率无关的滞后。用于识别模型参数的修改珊瑚礁优化算法，并因此提高了补偿精度。另外，考虑到磁致伸缩致动器的输入电流和输出位移始终是正的，采用单面广义播放操作员。此外，应用自适应有限脉冲响应控制器以消除由于非线性的动态效果而消除初步补偿误差。为了验证混合控制策略，进行了一些模拟和实验。与前馈反逆控制器相比，混合控制策略具有更好的准确性和适应性。结果表明，混合控制策略能够精确地跟踪步骤和多频正弦轨迹。

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