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

计量
- 文章访问数: 1006
- HTML全文浏览量: 46
- PDF下载量: 730
- 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

HTML全文

参考文献(17)

[1]	Cao Y, Chen X B. A survey of modeling and control issues for piezo-electric actuators[J]. Journal of Dynamic Systems, Measurement, and Control, 2015,137(1):014001
[2]	李杨民,汤晖,徐青松,等.面向生物医学应用的微操作机器人技术发展态势[J].机械工程学报,2011,47(23):1-13 Li Y M, Tang H, Xu Q S, et al. Development status of micromanipulator technology for biomedical applications[J]. Journal of Mechanical Engineering, 2011,47(23):1-13(in Chinese)
[3]	Peng J Y, Chen X B. A survey of modeling and control of piezoelectric actuators[J]. Modern Mechanical Engineering, 2013,3(1):28248
[4]	Gu G Y, Zhu L M, Su C Y, et al. Modeling and control of piezo-actuated nanopositioning stages:a survey[J]. IEEE Transactions on Automation Science and Engineering, 2016,13(1):313-332
[5]	屈文忠,姚振汉,张振家.具有迟滞和蠕变特性压电作动器的模糊自适应逆控制方法[J].机械科学与技术,2005,24(10):1230-1232 Qu W Z, Yao Z H, Zhang Z J. Adaptive fuzzy inverse control of piezoelectric actuator with hysteresis and creep[J]. Mechanical Science and Technology, 2005,24(10):1230-1232(in Chinese)
[6]	Liaw H C, Shirinzadeh B, Smith J. Sliding-mode enhanced adaptive motion tracking control of piezoelectric actuation systems for micro/Nano manipulation[J]. IEEE Transactions on Control Systems Technology, 2008,16(4):826-833
[7]	张利军,杨立新,郭立东,等.压电陶瓷驱动平台自适应输出反馈控制[J].自动化学报,2012,38(9):1550-1556 Zhang L J, Yang L X, Guo L D, et al. Adaptive output feedback control for piezoactuator-driven stage[J]. Acta Automatica Sinica, 2012,38(9):1550-1556(in Chinese)
[8]	Wu Y, Zou Q Z. Iterative control approach to compensate for both the hysteresis and the dynamics effects of piezo actuators[J]. IEEE Transactions on Control Systems Technology, 2007,15(5):936-944
[9]	Man Z H, Paplinski A P, Wu H R. A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators[J]. IEEE Transactions on Automatic Control, 1994,39(12):2464-2469
[10]	Feng Y, Yu X H, Man Z H. Non-singular terminal sliding mode control of rigid manipulators[J]. Automatica, 2002,38(12):2159-2167
[11]	Yu S H, Yu X H, Shirinzadeh B, et al. Continuous finite-time control for robotic manipulators with terminal sliding mode[J]. Automatica, 2005,41(11):1957-1964
[12]	Nekoukar V, Erfanian A. Adaptive fuzzy terminal sliding mode control for a class of MIMO uncertain nonlinear systems[J]. Fuzzy Sets and Systems, 2011,179(1):34-49
[13]	Youcef-Toumi K, Ito O. A time delay controller for systems with unknown dynamics[J]. Journal of Dynamic Systems, Measurement, and Control, 1990,112(1):133-142
[14]	Wang Y Y, Luo G S, Gu L Y, et al. Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation[J]. Journal of Vibration and Control, 2016,22(19):3998-4011
[15]	Jin M L, Lee J, Ahn K K. Continuous nonsingular terminal sliding-mode control of shape memory alloy actuators using time delay estimation[J]. IEEE/ASME Transactions on Mechatronics, 2015,20(2):899-909
[16]	Jin M L, Lee J, Chang P H, et al. Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control[J]. IEEE Transactions on Industrial Electronics, 2009,56(9):3593-3601
[17]	Levant A. Higher-order sliding modes, differentiation and output-feedback control[J]. International Journal of Control, 2003,76(9-10):924-941