一类含未知非线性迟滞的智能压电作动器鲁棒有限时间运动控制

余胜东; 马金玉; 陈大路; 康升征

doi:10.13433/j.cnki.1003-8728.20180136

一类含未知非线性迟滞的智能压电作动器鲁棒有限时间运动控制

doi: 10.13433/j.cnki.1003-8728.20180136

1.
南京航空航天大学机电学院, 南京 210016;
2.
温州职业技术学院浙南轻工装备智能技术协同创新中心, 浙江温州 325000;
3.
温州职业技术学院浙江省温州轻工机械技术创新服务平台, 浙江温州 325000

基金项目:

浙江省科技计划项目（2017C31117）、温州市科技计划项目（G20160004）及大学生科技创新项目（2016R456002）资助

详细信息

作者简介:
余胜东(1984-),博士研究生,研究方向为机械电子,626353013@qq.com

通讯作者:
陈大路,教授,891069220@qq.com

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- 被引次数: 0
出版历程
- 收稿日期: 2017-11-13
- 刊出日期: 2018-08-05

Robust Finite-time Motion Control for a Class of Smart Piezoelectric Actuators with Unknown Nonlinear Hysteresis

1.
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2.
South Zhejiang Light Industry Equipment Intelligent Technology Collaborative Innovation Center, Wenzhou Vocational and Technical College, Zhejiang Wenzhou 325000, China;
3.
Technical Innovation Service Platform of Wenzhou Light Industrial Machinery, Wenzhou Vocational and Technical College, Zhejiang Wenzhou 325000, China

摘要

摘要: 针对一类存在外界扰动、迟滞等时变不确定、非线性的压电作动器系统，提出了一种新的鲁棒控制策略。该控制器在快速非奇异终端滑模控制的基础上，引入时延估计技术，实现在线估计并补偿系统时变不确定量，而无需系统模型。采用鲁棒精密微分器实时估计速度及加速度信息，克服了实际中只有位移信号可测的不足。相比传统时延控制，所提的控制律采用非线性滑模面，保证跟踪误差能够有限时间收敛。最后利用Lyapunov函数证明了系统的稳定性。理论分析及仿真结果表明，所提控制策略能够满足微/纳定位应用中的高精度鲁棒跟踪性能要求。
- 无模型控制 /
- 压电作动器 /
- 终端滑模 /
- 时延估计
Abstract: A new robust control strategy is presented for a class of nonlinear piezoelectric actuators subject to external disturbances, hysteresis and other time-varying uncertainties. Based on the fast nonsingular terminal sliding mode control, the proposed controller incorporates the time delay estimation, and can achieve online estimation and compensation for the time-varying system uncertainties without system model. The robust exact differentiator is introduced to estimate the velocity and acceleration information online, which overcomes the limitation of only position measurements. Compared with the traditional time delay control, the proposed control law uses the nonlinear sliding mode surface such that the finite-time convergence of tracking error can be guaranteed. Finally, a Lyapunov function is chosen to prove the stability of controlled system. Theoretical analysis and simulation results show that the proposed control strategy can meet the requirements of high-precision robust tracking in micro/nano positioning applications.
- model-free control /
- piezoelectric actuator /
- terminal sliding mode /
- time delay estimation

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参考文献(17)

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