CN109557816A - A kind of suppressing method, system and the medium of piezoelectric ceramic actuator lagging characteristics - Google Patents
A kind of suppressing method, system and the medium of piezoelectric ceramic actuator lagging characteristics Download PDFInfo
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Abstract
The present invention relates to suppressing method, system and the medium of a kind of piezoelectric ceramic actuator lagging characteristics, method includes the output displacement for obtaining piezoelectric ceramic actuator and generating under input voltage, and establishes Hysteresis Model according to output displacement and input voltage；Parameter identification is carried out to Hysteresis Model, obtains target Hysteresis Model；Fractional order sliding mode controller is designed according to target Hysteresis Model, and piezoelectric ceramic actuator is controlled using fractional order sliding mode controller.The present invention describes lagging characteristics by the relationship of output displacement and input voltage, the relationship of lagging characteristics and piezoelectric ceramic actuator can be better described, piezoelectric ceramic actuator is controlled by fractional order sliding mode controller, preferably inhibit the jitter problem of sliding-mode surface, and calculating process is few, difficulty in computation is low, it can largely guarantee the real-time controlled piezoelectric ceramic actuator, control effect is more preferable, can more effectively inhibit the lagging characteristics of piezoelectric ceramic actuator during the work time.
Description
Technical field
The present invention relates to technical field of electromechanical control more particularly to a kind of inhibition sides of piezoelectric ceramic actuator lagging characteristics
Method, system and medium.
Background technique
Piezoelectric ceramic actuator has many advantages, such as that small in size, energy density is high, positioning accuracy is high, high resolution, frequency response are fast,
It is widely applied in the fields such as precision positioning, MEMS, micro-nano manufacturing technology, nano biological engineering.
For example, flexible electronic needs to realize nanofeature micro-nano structure macroscopic devices in the flexible substrate of arbitrary shape
Large area is integrated, and manufacturing process is related to the function of the totally different material of the physical characteristics such as polymer, metal, nonmetallic, nano material
Interface is precisely formed, this proposes great challenge to the driving of manufacturing equipment, positioning and motion control performance.Therefore, microcosmic
Sub-micron precision positioning and movement control technology in scale necessitate means.
Piezoelectric ceramic actuator is to generate inverse piezoelectric effect or electrostriction effect in the electric field using piezoelectric material, directly
Mechanical energy is converted electrical energy into generate micro-displacement, and height is realized by displacement amplifying mechanism (such as flexible hinge etc.)
The accurate actuator of resolution ratio displacement output.However as a kind of polar material, the nonlinear characteristic of piezoelectric ceramics inherently,
Such as sluggishness, temperature, creep and dynamic frequency characteristic, especially lagging characteristics directly affect the movenent performance of system, to across
Precision positioning and tracking in the manufacture of scale spray printing bring difficult and challenge.
Currently, for lagging characteristics suppressing method there are many, such as the fuzzy-adaptation PID control of the tracking based on Hysteresis Model
Method, this method pass through modeling first and obtain the Hysteresis Model of piezoelectric ceramic actuator, then design phase using the Hysteresis Model
Corresponding PID controller is simultaneously realized with fuzzy control rule to proportionality constant k in PID controllerp, integral constant kiAnd differential
Constant kdDesign to compensate the output displacement of piezoelectric ceramic actuator, but this method has the disadvantage in that at present
1, Hysteresis Model is ideal physical model and there are model errors, not high enough with the degree of fitting of lagging characteristics；
2, the parameter that Hysteresis Model needs to recognize is more, and identification process is more complex, and ineffective；
3, because the setting of fuzzy rule keeps calculating process more complex, cause difficulty in computation higher, real-time is poor, and sluggish
The inhibitory effect of characteristic is general.,
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of execution of piezoelectric ceramics
Suppressing method, system and the medium of device lagging characteristics.
The technical scheme to solve the above technical problems is that
A kind of suppressing method of piezoelectric ceramic actuator lagging characteristics, comprising the following steps:
Step 1: obtaining the output displacement that piezoelectric ceramic actuator generates under input voltage, and according to the output displacement
Hysteresis Model is established with the input voltage；
Step 2: parameter identification being carried out to the Hysteresis Model, obtains target Hysteresis Model；
Step 3: fractional order sliding mode controller being designed according to the target Hysteresis Model, and uses the fractional order sliding formwork control
Device processed controls the piezoelectric ceramic actuator.
The beneficial effects of the present invention are: since the lagging characteristics of piezoelectric ceramic actuator are embodied directly under input voltage
Output displacement, Hysteresis Model is established by output displacement and input voltage, is retouched by the relationship of output displacement and input voltage
Lagging characteristics are stated, the relationship of lagging characteristics and piezoelectric ceramic actuator can be better described, convenient for the subsequent relationship according to the two
Be inhibited the control signals of lagging characteristics, so that fractional order sliding mode controller is executed according to control signal control piezoelectric ceramics
Device；Since there are model errors for Hysteresis Model, and there are multiple parameters, by carrying out parameter identification to Hysteresis Model, so as to
To the higher target Hysteresis Model of precision, so that the degree of fitting of the target Hysteresis Model and lagging characteristics is higher, it is sluggish in description
It is more acurrate in characteristic, to design more accurate fractional order sliding mode controller according to the high-precision target Hysteresis Model；Point
Number rank sliding mode controller compares traditional controller, can preferably inhibit the jitter problem of sliding-mode surface, and calculating process is few, calculates
Difficulty is low, can largely guarantee the real-time controlled piezoelectric ceramic actuator, and control effect is more preferable, can be more effective
Ground inhibits the lagging characteristics of piezoelectric ceramic actuator during the work time, and the precision for avoiding lagging characteristics from influencing manufacturing equipment is fixed
Position, tracking and motion control, improve the working efficiency and product quality of sophisticated manufacturing.
Based on the above technical solution, the present invention can also be improved as follows:
Further, the step 1 is specifically established using the modeling method based on mass-spring-damper mathematics physics model
The Hysteresis Model.
The beneficial effect of above-mentioned further scheme is: using the modeling side based on mass-spring-damper mathematics physics model
Method establishes Hysteresis Model, can preferably describe the lagging characteristics of piezoelectric ceramics and the relationship of piezoelectric ceramic actuator, and model
Form is simple, and method is simple.
Further, the Hysteresis Model in the step 1 is specially the equivalent Hysteresis Model of Bouc-wen, the Bouc-
The specific formula of the equivalent Hysteresis Model of wen are as follows:
Y (t)=k1u(t)+k2h(t)
Wherein, y (t) is the output displacement, and u (t) is the input voltage, and h (t) is the equivalent sluggishness of the Bouc-wen
The sluggish component of model,First derivative for the sluggish component to the time, D0, A, β, γ and n be reflection lagging characteristics
Model parameter,It is the input voltage to the first derivative of time, α is weight coefficient, ksFor piezoelectric ceramics execution
First equivalent stiffness coefficients of device, k are the second equivalent stiffness coefficients for reflecting the lagging characteristics, k1And k2For according to α, D0、
K and ksResulting first brief note coefficient.
The beneficial effect of above-mentioned further scheme is: since the equivalent Hysteresis Model of Bouc-wen can describe mostly late
Stagnant system has preferable degree of fitting with the lagging characteristics during actual motion, therefore passes through mass-spring-damper mathematics
Physical model obtains the equivalent Hysteresis Model of Bouc-wen, can better describe lagging characteristics, and above-mentioned Bouc-wen is equivalent late
Stagnant model is simplified compared with traditional Bouc-wen model, so that model is more simple, so as to subsequent in model
Parameter is recognized, and the higher target Hysteresis Model of precision is obtained；
Wherein, reflect the second equivalent stiffness coefficients k > 0 of lagging characteristics, 0 < α < 1 of weight coefficient；D0, A, β, γ and n
It is the model parameter for reflecting lagging characteristics, D0, A, β and γ specifically control the shape of lagging characteristics curve, n mainly controls sluggishness
Characteristic smoothness, when other parameters immobilize, the characteristic shape of A more large time lag is wider, and can allow curve
Deflection counterclockwise；N is bigger, and curve is more smooth；The size of β can change the wide and flat of lagging characteristics curve, and it is inclined also to change curve
Turn；γ can also make curve deflect；D0It is usually handled as constant, usual value is 1.
Further, further including being modified to the equivalent Hysteresis Model of the Bouc-wen, being repaired in the step 1
Positive Bouc-wen model, the specific formula of the amendment Bouc-wen model are as follows:
y1(t)=k1u(t)+k2h1(t)+d
Wherein, y1It (t) is amendment output displacement, u1It (t) is amendment input voltage, h1It (t) is the amendment Bouc-wen mould
The amendment sluggishness component of type, d are to correct sluggish component difference,For phase difference value,It is the sluggish component of the amendment to the time
First derivative,It is the amendment input voltage to the first derivative of time.
The beneficial effect of above-mentioned further scheme is: since the equivalent Hysteresis Model sheet of Bouc-wen is as ideal model, with
Sluggish behavior has deviation during actual motion, therefore is introduced into the equivalent Hysteresis Model of Bouc-wen and the deviation of initial position
D (correct sluggish component difference) and and initial phase deviation(i.e. phase difference value), to the equivalent sluggishness of Bouc-wen
Model is modified, and can be further improved precision of the amendment Bouc-wen model on description lagging characteristics.
Further, specifically carrying out parameter to the amendment Bouc-wen model using differential evolution method in the step 2
Identification, obtains the target Hysteresis Model.
The beneficial effect of above-mentioned further scheme is: parameter identification is carried out by differential evolution method, it can be largely
The upper precision for improving relevant parameter in amendment Bouc-wen model is in particular in that further promoting amendment Bouc-wen model exists
Piezoelectric ceramics lagging characteristics aspect is described with the higher degree of fitting of experimental data, consequently facilitating the application of Bouc-wen model will be corrected
The lagging characteristics of piezoelectric ceramics are described in fractional order sliding mode controller, effectively to be inhibited to lagging characteristics.
Further, the step 3 specifically includes the following steps:
Step 31: according to the amendment output displacement in the target Hysteresis Model and between preset reference displacement
Displacement error determines the sliding-mode surface of the fractional order sliding mode controller；
The sliding-mode surface are as follows:
E=y1-yd；
Wherein, s is the sliding-mode surface, and e is the displacement error, y1For the value of the amendment output displacement, ydFor the ginseng
Examine displacement, c0For the scale parameter and c of the fractional order sliding mode controller0> 0, D are score exponent arithmetic(al), and λ is the rank of fractional order
Number；
Step 32: the control law of the fractional order sliding mode controller is determined according to the sliding-mode surface, and according to the control
Rule, the sliding-mode surface and the target Hysteresis Model, obtain the control signal of the fractional order sliding mode controller；
The control law are as follows:
Wherein,For the first derivative of the sliding-mode surface, k0For exponential approach term coefficient, ε is velocity of approach, and sgn () is
Switch function；
The specific formula of the control signal are as follows:
k3=α k, k4=D0k(1-α)
Wherein, ucIt (t) is the control signal, m is the equivalent mass of the mass-spring-damper mathematics physics model,
C is the Equivalent damping coefficient of the mass-spring-damper mathematics physics model, k3And k4For according to k1And k2Resulting second
It is abbreviated coefficient；
Step 33: the piezoelectric ceramic actuator being controlled according to the control signal.
The beneficial effect of above-mentioned further scheme is: the parameter of amendment Bouc-wen model is promoted according to differential evolution method
Precision, and amendment output displacement is obtained according to the amendment Bouc-wen model (i.e. target Hysteresis Model) after promotion precision, and will
The amendment output displacement and with reference to displacement between displacement error as fractional order sliding mode controller sliding-mode surface primary variables,
And corresponding control law is determined according to sliding-mode surface, compared with traditional sliding mode controller, it can preferably inhibit trembling for sliding-mode surface
Dynamic problem guarantees that amendment output displacement can be displaced better real-time tracking with reference, to effectively inhibit lagging characteristics, and calculates
Process is few, difficulty is low, can largely guarantee the real-time based on piezoelectric ceramic actuator location control, control effect
Preferably；
Wherein, the order λ of fractional order generally (0,1] between value, λ=1 is expressed as traditional sliding mode controller.
Another aspect according to the present invention provides a kind of inhibition system of piezoelectric ceramic actuator lagging characteristics, including
Power module, sampling module, processing module and control module；
The power module is for providing the input voltage of piezoelectric ceramic actuator；
The sampling module is for obtaining the output displacement that the piezoelectric ceramic actuator generates under the input voltage；
The processing module is used to establish Hysteresis Model according to the output displacement and the input voltage, is also used to institute
It states Hysteresis Model and carries out parameter identification, obtain target Hysteresis Model, be also used to design fractional order according to the target Hysteresis Model
Sliding mode controller；
The control module is used to control the piezoelectric ceramic actuator using the fractional order sliding mode controller.
The beneficial effects of the present invention are: providing the input voltage of piezoelectric ceramic actuator, acquisition module by power module
Obtain the output displacement that generates under the input voltage, due to the lagging characteristics of piezoelectric ceramic actuator be embodied directly in it is defeated at this
Enter the output displacement under voltage, therefore processor establishes Hysteresis Model by output displacement and input voltage, by output displacement with
The relationship of input voltage describes lagging characteristics, can better describe the relationship of lagging characteristics and piezoelectric ceramic actuator, is convenient for
The subsequent relationship according to the two is inhibited the control signals of lagging characteristics, so that control module uses fractional order sliding mode controller
Piezoelectric ceramic actuator is controlled according to control signal；Since there are model errors for Hysteresis Model, and there are multiple parameters, pass through place
It manages module and parameter identification is carried out to Hysteresis Model, to obtain the higher target Hysteresis Model of precision, so that the target sluggishness mould
The degree of fitting of type and lagging characteristics is higher, more acurrate on description lagging characteristics, consequently facilitating processing module is according to the high-precision
Target Hysteresis Model design more accurate fractional order sliding mode controller；Fractional order sliding mode controller compares traditional controller,
The jitter problem of sliding-mode surface can preferably be inhibited, and calculating process is few, difficulty in computation is low, can largely guaranteed pair
The real-time of piezoelectric ceramic actuator control, control effect is more preferable, and more effectively piezoelectric ceramic actuator can be inhibited worked
Lagging characteristics in journey avoid lagging characteristics from influencing precision positioning, tracking and the motion control of manufacturing equipment, improve precision manufactureing
The working efficiency and product quality of industry.
Based on the above technical solution, the present invention can also be improved as follows:
Further, the Hysteresis Model is specially the equivalent Hysteresis Model of Bouc-wen, the processing module also particularly useful for
The equivalent Hysteresis Model of the Bouc-wen is modified, amendment Bouc-wen model is obtained.
The beneficial effect of above-mentioned further scheme is: since the equivalent Hysteresis Model of Bouc-wen can describe mostly late
Stagnant system has preferable degree of fitting with the lagging characteristics during actual motion, therefore passes through mass-spring-damper mathematics
Physical model obtains the equivalent Hysteresis Model of Bouc-wen, can better describe lagging characteristics, and above-mentioned Bouc-wen is equivalent late
Stagnant model is simplified compared with traditional Bouc-wen model, so that model is more simple, so as to subsequent in model
Parameter is recognized, and the higher target Hysteresis Model of precision is obtained；Since the equivalent Hysteresis Model sheet of Bouc-wen is as ideal mould
Sluggish behavior has deviation during type, and actual motion, therefore is introduced into the equivalent Hysteresis Model of Bouc-wen and initial position
Deviation d (correct sluggish component difference) and and initial phase deviation(i.e. phase difference value), to Bouc-wen etc.
Effect Hysteresis Model is modified, and can be further improved precision of the amendment Bouc-wen model on description lagging characteristics.
Another aspect according to the present invention provides the inhibition system of another piezoelectric ceramic actuator lagging characteristics, packet
It includes processor, memory and storage in the memory and may operate at the computer program on the processor, the meter
Calculation machine program realizes the step in a kind of suppressing method of piezoelectric ceramic actuator lagging characteristics of the invention when running.
The beneficial effects of the present invention are: the computer program by storage on a memory, and run on a processor, it is real
The inhibition system of existing piezoelectric ceramic actuator lagging characteristics of the invention, can better describe lagging characteristics and hold with piezoelectric ceramics
The relationship of row device, convenient for the control signal of the subsequent lagging characteristics that are inhibited, so that fractional order sliding mode controller is believed according to control
Number control piezoelectric ceramic actuator, fractional order sliding mode controller compare traditional controller, can preferably inhibit trembling for sliding-mode surface
Dynamic problem, and calculating process is few, difficulty in computation is low, can largely guarantee to control piezoelectric ceramic actuator real-time
Property, control effect is more preferable, can more effectively inhibit the lagging characteristics of piezoelectric ceramic actuator during the work time, avoids sluggish spy
Property influence manufacturing equipment precision positioning, tracking and motion control, improve the working efficiency and product quality of sophisticated manufacturing.
Another aspect according to the present invention, provides a kind of computer storage medium, and the computer storage medium includes:
At least one instruction, the inhibition side for realizing a kind of piezoelectric ceramic actuator lagging characteristics of the invention is performed in described instruction
Step in method.
The beneficial effects of the present invention are: realizing this hair by executing the computer storage medium comprising at least one instruction
The inhibition of bright piezoelectric ceramic actuator lagging characteristics, can better describe the pass of lagging characteristics and piezoelectric ceramic actuator
System, convenient for the control signal of the subsequent lagging characteristics that are inhibited, so that fractional order sliding mode controller is according to control signal control pressure
Electroceramics actuator, fractional order sliding mode controller compare traditional controller, can preferably inhibit the jitter problem of sliding-mode surface, and
Calculating process is few, difficulty in computation is low, can largely guarantee the real-time controlled piezoelectric ceramic actuator, control effect
Fruit is more preferable, can more effectively inhibit the lagging characteristics of piezoelectric ceramic actuator during the work time, and lagging characteristics is avoided to influence system
Precision positioning, tracking and the motion control of manufacturing apparatus improve the working efficiency and product quality of sophisticated manufacturing.
Detailed description of the invention
Fig. 1 is a kind of flow diagram one of the suppressing method of piezoelectric ceramic actuator lagging characteristics of the present invention；
Fig. 2 is a kind of flow diagram two of the suppressing method of piezoelectric ceramic actuator lagging characteristics of the present invention；
Fig. 3 is the structural schematic diagram of mass-spring-damper mathematics physics model in the embodiment of the present invention one；
Fig. 4-1 is the equivalent sluggish mould of uncorrected Bouc-Wen in the embodiment of the present invention one under 2Hz input voltage signal
Type describes input voltage and the sluggish of output displacement is schemed；
Fig. 4-2 is the equivalent sluggish mould of uncorrected Bouc-Wen in the embodiment of the present invention one under 8Hz input voltage signal
Type describes input voltage and the sluggish of output displacement is schemed；
Fig. 5-1 is the amendment Bouc-Wen model description input electricity in the embodiment of the present invention one under 2Hz input voltage signal
Pressure is schemed with the sluggish of output displacement；
Fig. 5-2 is the amendment Bouc-Wen model description input electricity in the embodiment of the present invention one under 8Hz input voltage signal
Pressure is schemed with the sluggish of output displacement；
Fig. 6 is the flow diagram for carrying out parameter identification in the embodiment of the present invention one using differential evolution method；
Fig. 7 is the structural schematic diagram of one mid-score rank sliding mode controller of the embodiment of the present invention；
Fig. 8-1 is the tracking waveform of the output displacement controlled in the embodiment of the present invention one using traditional sliding mode controller
Figure；
Fig. 8-2 is the tracking wave of the output displacement controlled in the embodiment of the present invention one using fractional order sliding mode controller
Shape figure；
Fig. 9-1 is the tracking waveform of the displacement error controlled in the embodiment of the present invention one using traditional sliding mode controller
Figure；
Fig. 9-2 is the tracking wave of the displacement error controlled in the embodiment of the present invention one using fractional order sliding mode controller
Shape figure；
Figure 10 is a kind of structural schematic diagram of the inhibition system of piezoelectric ceramic actuator lagging characteristics of the present invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
With reference to the accompanying drawing, the present invention will be described.
Embodiment one, as shown in Figure 1, a kind of suppressing method of piezoelectric ceramic actuator lagging characteristics, comprising the following steps:
S1: obtaining the output displacement that generates under input voltage of piezoelectric ceramic actuator, and according to the output displacement and
The input voltage establishes Hysteresis Model；
S2: parameter identification is carried out to the Hysteresis Model, obtains target Hysteresis Model；
S3: fractional order sliding mode controller is designed according to the target Hysteresis Model, and uses the fractional order sliding formwork control
Device controls the piezoelectric ceramic actuator.
Since the lagging characteristics of piezoelectric ceramic actuator are embodied directly in the output displacement under input voltage, pass through output
Displacement and input voltage establish Hysteresis Model, describe lagging characteristics by the relationship of output displacement and input voltage, can be preferably
The relationship of lagging characteristics and piezoelectric ceramic actuator is described, is inhibited the control of lagging characteristics convenient for the subsequent relationship according to the two
Signal processed, so that fractional order sliding mode controller controls piezoelectric ceramic actuator according to control signal；Since there are moulds for Hysteresis Model
Type error, and there are multiple parameters, by carrying out parameter identification to Hysteresis Model, to obtain the higher target sluggishness mould of precision
Type, so that the degree of fitting of the target Hysteresis Model and lagging characteristics is higher, it is more acurrate on description lagging characteristics, thus according to this
High-precision target Hysteresis Model designs more accurate fractional order sliding mode controller；Fractional order sliding mode controller is compared to tradition control
Device processed can preferably inhibit the jitter problem of sliding-mode surface, and calculating process is few, difficulty in computation is low, can be largely
Guarantee the real-time controlled piezoelectric ceramic actuator, control effect is more preferable, more effectively piezoelectric ceramic actuator can be inhibited to exist
Lagging characteristics in the course of work avoid lagging characteristics from influencing precision positioning, tracking and the motion control of manufacturing equipment, improve essence
Close manufacturing working efficiency and product quality.
Preferably, as shown in Figures 2 and 3, S1 specifically uses the modeling based on mass-spring-damper mathematics physics model
Method establishes the Hysteresis Model.
Preferably, described as shown in Fig. 2, the Hysteresis Model in S1 is specially the equivalent Hysteresis Model of Bouc-wen
The specific formula of the equivalent Hysteresis Model of Bouc-wen are as follows:
Y (t)=k1u(t)+k2h(t)
Wherein, y (t) is the output displacement, and u (t) is the input voltage, and h (t) is the equivalent sluggishness of the Bouc-wen
The sluggish component of model,First derivative for the sluggish component to the time, D0, A, β, γ and n be reflection lagging characteristics
Model parameter,It is the input voltage to the first derivative of time, α is weight coefficient, ksFor piezoelectric ceramics execution
First equivalent stiffness coefficients of device, k are the second equivalent stiffness coefficients for reflecting the lagging characteristics, k1And k2For according to α, D0、
K and ksResulting first brief note coefficient.
0,0 < α < 1, D of k >0, A, β, γ and n be reflect lagging characteristics model parameter, D0, A, β and γ specifically control
The shape of lagging characteristics curve, n mainly control the smoothness of lagging characteristics curve, and when other parameters immobilize, A is bigger late
Stagnant characteristic shape is wider, and curve can be allowed to deflect counterclockwise；N is bigger, and curve is more smooth；The size of β can change sluggish spy
Linearity curve width and it is flat, can also change curve veering；γ can also make curve deflect；D0It is usually handled as constant, usually
Value is 1.
The structural schematic diagram for the mass-spring-damper mathematics physics model that the present embodiment uses is as shown in figure 3, inputting
Under the action of voltage u (t), piezoelectric ceramic actuator elongation, and generate power F and act on m, cause output displacement y (t), moves
Mechanical equation is as follows:
Wherein, m is the equivalent mass of mass-spring-damper mathematics physics model, and c is the mass-spring-damper number
Learn the Equivalent damping coefficient of physical model.
The input of mass-spring-damper mathematics physics model with sluggish behavior is the input of piezoelectric ceramic actuator
Voltage, then sluggish output f (t) is equivalent to the function of input voltage u (t), obtains the Bouc-Wen model of description lagging characteristics, tool
Body is as follows:
For convenience of description, the functional expression in subsequent formula uses shorthand way, such as y (t) to be indicated with y.
Due to the lagging characteristics of piezoceramic material inherently, it is slow to make to present between power output F and input voltage u (t)
Stagnant non-linear relation, therefore according to the kinetics equation of mass-spring-damper mathematics physics model and Bouc-Wen model, it obtains
It arrives:
It vibrates and generates heat in order to prevent, piezoelectric ceramic actuator is generally driven with lower input voltage frequency, and
Under low-frequency voltage load, in kinetics equationWithEffect is negligible；It is right and for subsequent convenience of calculation
Above-mentioned formula is simplified, and the equivalent Hysteresis Model of Bouc-Wen is obtained, as follows:
Y (t)=k1u(t)+k2h(t)
Hysteresis Model is established using the modeling method based on mass-spring-damper mathematics physics model, can preferably be retouched
The lagging characteristics of piezoelectric ceramics and the relationship of piezoelectric ceramic actuator are stated, and model form is simple, method is simple；Due to Bouc-
The equivalent Hysteresis Model of wen can describe most of hysteresis system, have with the lagging characteristics during actual motion preferable
Degree of fitting, therefore the equivalent Hysteresis Model of Bouc-wen is obtained by mass-spring-damper mathematics physics model, it can be preferably
Lagging characteristics are described, and the equivalent Hysteresis Model of above-mentioned Bouc-wen is simplified, made compared with traditional Bouc-wen model
It is more simple to obtain model, so that the subsequent parameter in model recognizes, obtains the higher target Hysteresis Model of precision.
Preferably, as shown in Fig. 2, in S1, further include being modified to the equivalent Hysteresis Model of the Bouc-wen, obtain
Correct Bouc-wen model, the specific formula of the amendment Bouc-wen model are as follows:
y1(t)=k1u(t)+k2h1(t)+d
Wherein, y1It (t) is amendment output displacement, u1It (t) is amendment input voltage, h1It (t) is the amendment Bouc-wen mould
The amendment sluggishness component of type, d are to correct sluggish component difference,For phase difference value,It is the sluggish component of the amendment to the time
First derivative,It is the amendment input voltage to the first derivative of time.
Since the equivalent Hysteresis Model sheet of Bouc-wen is as ideal model, have partially with behavior sluggish during actual motion
Difference, thus be introduced into the equivalent Hysteresis Model of Bouc-wen and the deviation d of initial position (correct sluggish component difference) and
And the deviation of initial phase(i.e. phase difference value) can be mentioned further to be modified to the equivalent Hysteresis Model of Bouc-wen
Precision of the high modified Bouc-wen model on description lagging characteristics；It is slow that the present embodiment can adjust amendment by test of many times
Stagnant component difference d and phase difference valueTo realize the amendment to the equivalent Hysteresis Model of Bouc-wen and obtain amendment output displacement y1
(t)。
The present embodiment verifies output displacement using the equivalent Hysteresis Model of uncorrected Bouc-wen of previous step, with
This verifies the description to lagging characteristics, and specifically as shown in Fig. 4-1 and Fig. 4-2, Fig. 4-1 and Fig. 4-2 are respectively electric in 2Hz input
It presses under signal and 8Hz input voltage signal, input voltage and output is described using the equivalent Hysteresis Model of uncorrected Bouc-wen
The sluggish figure of displacement；
The present embodiment is under identical condition verified output displacement, specifically further according to amendment Bouc-wen model
As shown in Fig. 5-1 and Fig. 5-2, Fig. 5-1 and Fig. 5-2 are respectively to adopt under 2Hz input voltage frequency and 8Hz input voltage frequency
The sluggish figure of input voltage and output displacement is described with amendment Bouc-wen model；
Complex chart 4-1 and Fig. 4-2 and Fig. 5-1 and Fig. 5-2, it can be clearly seen that, it is equivalent by modified Bouc-wen
Hysteresis Model (i.e. amendment Bouc-wen model) is in the input voltage and piezoelectric ceramic actuator for describing piezoelectric ceramic actuator
It is more accurate in output displacement sluggishness relationship.
Preferably, as depicted in figs. 1 and 2, specifically using differential evolution method to the amendment Bouc-wen model in S2
Parameter identification is carried out, the target Hysteresis Model is obtained.
The problem of improving parameters precision improves model parameter using parameter identification method usually based on experimental data
Precision.The operating parameter of differential evolution method mainly has: mutagenic factor F, intersects factor CR, population size M and greatest iteration time
Number G.Mutagenic factor F is control population diversity and constringent important parameter, the value generally between [0,2]；Mutagenic factor F
When being worth smaller, the diversity factor of group reduces, and evolutionary process is not easy to jump out local extremum so as to cause population Premature Convergence；Variation because
When sub- F is larger, although being easy to jump out local extremum, convergence rate can slow down.Intersecting factor CR can control individual parameter
Each dimension is to the degree of participation of intersection and the balance of overall situation and partial situation's search capability, generally between [0,1].Intersect the factor
CR is smaller, and population diversity is smaller, easy Premature Convergence.CR is bigger, and convergence rate is bigger, but excessive may cause restrains change
Slowly.CR is bigger, and F is smaller, and convergence in population ramps up, but with the increase for intersecting factor CR, restrains the sensitivity to mutagenic factor F
Degree is gradually increased.Population scale M is bigger, and population diversity is stronger, and the probability for obtaining optimal solution is bigger, but calculates the time more
It is long.Termination condition of the maximum number of iterations G generally as evolutionary process.The number of iterations is bigger, and optimal solution is more accurate, but counts simultaneously
The time of calculation can be longer.
Therefore, above 4 parameters all have a great impact to the solving result and solution efficiency of differential evolution method, need
Preferable effect, the stream of the specific differential evolution method of the present embodiment could be obtained by carrying out reasonable setting to above 4 parameters
Journey is as follows:
(1) initialization population determines differential evolution algorithm control parameter, determines fitness function；Differential evolution algorithm control
Parameter processed includes: mutagenic factor F, intersects factor CR, population size M and maximum number of iterations G；
(2) initial population is evaluated, i.e., the fitness value of each individual in calculating initial population；
(3) judge whether that reaching termination condition or evolutionary generation reaches maximum；It evolves, will obtain best if so, terminating
Individual is exported as optimal result；If it is not, continuing；
(4) variation and crossover operation are carried out, intermediate population is obtained；
(5) more excellent individual is selected in original seed group and intermediate population, as population of new generation；
(6) evolution the number of iterations G=G+1 goes to step (2)；
Specific flow diagram is as shown in Figure 6.
Parameter identification is carried out by differential evolution method, can largely be improved related in amendment Bouc-wen model
The precision of parameter is in particular in and further promotes amendment Bouc-wen model in terms of describing piezoelectric ceramics lagging characteristics with real
The higher degree of fitting of data is tested, describes to press consequently facilitating applying amendment Bouc-wen model in fractional order sliding mode controller
The lagging characteristics of electroceramics, effectively to be inhibited to lagging characteristics.
Preferably, as depicted in figs. 1 and 2, S3 specifically includes the following steps:
Step 31: according to the amendment output displacement in the target Hysteresis Model and between preset reference displacement
Displacement error determines the sliding-mode surface of the fractional order sliding mode controller；
The sliding-mode surface are as follows:
E=y1-yd；
Wherein, s is the sliding-mode surface, and e is the displacement error, y1For the value of the amendment output displacement, ydFor the ginseng
Examine displacement, c0For the scale parameter and c of the fractional order sliding mode controller0> 0, D are score exponent arithmetic(al), and λ is the rank of fractional order
Number；
Step 32: the control law of the fractional order sliding mode controller is determined according to the sliding-mode surface, and according to the control
Rule, the sliding-mode surface and the target Hysteresis Model, obtain the control signal of the fractional order sliding mode controller；
The control law are as follows:
Wherein,For the first derivative of the sliding-mode surface, k0For exponential approach term coefficient, ε is velocity of approach, and sgn () is
Switch function；
The specific formula of the control signal are as follows:
Wherein, ucIt (t) is the control signal, m is the equivalent mass of the mass-spring-damper mathematics physics model,
C is the Equivalent damping coefficient of the mass-spring-damper mathematics physics model, k3And k4For according to k1And k2Resulting second
It is abbreviated coefficient；
Step 33: the piezoelectric ceramic actuator being controlled according to the control signal.
The parameters precision of amendment Bouc-wen model is promoted according to differential evolution method, and according to the amendment after promotion precision
Bouc-wen model (i.e. target Hysteresis Model) obtains amendment output displacement, by the amendment output displacement and with reference between displacement
Primary variables of the displacement error as the sliding-mode surface of fractional order sliding mode controller, and corresponding control law is determined according to sliding-mode surface,
It compared with traditional sliding mode controller, can preferably inhibit the jitter problem of sliding-mode surface, guarantee that amendment output displacement can be with ginseng
The better real-time tracking of displacement is examined, thus effectively inhibit lagging characteristics, and calculating process is few, difficulty is low, it can be largely
Upper real-time of the guarantee based on piezoelectric ceramic actuator location control, control effect are preferable；
Wherein, the order λ of fractional order generally (0,1] between value, λ=1 is expressed as traditional sliding mode controller.
The present embodiment is as shown in Figure 7 according to the structural schematic diagram for the fractional order sliding mode controller that above-mentioned steps design.
The stability for the fractional order sliding mode controller that the present embodiment also uses Lyapunov stability theorem to prove,
Choose energy function are as follows:
Wherein, V is energy function；Easily proveProof procedure is as follows:
It can be seen that the fractional order sliding mode controller of the present embodiment design controls the stability of piezoelectric ceramic actuator
Height can effectively inhibit the lagging characteristics of piezoelectric ceramic actuator.
Specifically, the relevant parameter difference for the piezoelectric ceramic actuator and fractional order sliding mode controller that the present embodiment is selected
Are as follows:
Quality is m=1.45kg, and Equivalent damping coefficient c=11Ns/m, the first equivalent stiffness coefficients are ks=9.998 ×
105N/m, with reference to displacement ydSignal is frequency 2Hz, 10 μm of peak-to-peak value of sinusoidal signal.
Traditional sliding mode controller is respectively adopted and fractional order sliding mode controller controls piezoelectric ceramic actuator, into
Under conditions of entering steady-state operation, obtained output displacement tracking waveform diagram as shown in Fig. 8-1 and Fig. 8-2, from Fig. 8-1 and is schemed respectively
The displacement tracking degree of fitting that 8-2 can be seen that the fractional order sliding mode controller of the present embodiment is higher；In addition to this, it also obtains respectively
Displacement error under to traditional sliding formwork control and under fractional order sliding formwork control tracks waveform diagram, respectively such as Fig. 9-1 and Fig. 9-2 institute
Show, from Fig. 9-1 and Fig. 9-2 as can be seen that the peak-to-peak value of tracking error is 0.076 μm in traditional sliding formwork control, and in score
The peak-to-peak value of tracking error is 0.014 μm in rank sliding formwork control, and the peak-to-peak value of tracking error reduces 81.5%.It can be seen that
The suppressing method of the piezoelectric ceramic actuator lagging characteristics of the present embodiment can with significant effective inhibit lagging characteristics, can be effective
Precision positioning, tracking and the motion control for improving the precision equipment using piezoelectric ceramic actuator, to improve sophisticated manufacturing
Working efficiency and product quality.
Embodiment two, a kind of as shown in Figure 10, inhibition system of piezoelectric ceramic actuator lagging characteristics, including power supply mould
Block, sampling module, processing module and control module；
The power module is for providing the input voltage of piezoelectric ceramic actuator；
The sampling module is for obtaining the output displacement that the piezoelectric ceramic actuator generates under the input voltage；
The processing module is used to establish Hysteresis Model according to the output displacement and the input voltage, is also used to institute
It states Hysteresis Model and carries out parameter identification, obtain target Hysteresis Model, be also used to design fractional order according to the target Hysteresis Model
Sliding mode controller；
The control module is used to control the piezoelectric ceramic actuator using the fractional order sliding mode controller.
The present embodiment provides the input voltage of piezoelectric ceramic actuator by power module, and acquisition module is obtained in the input
The output displacement generated under voltage, due to the lagging characteristics of piezoelectric ceramic actuator be embodied directly in it is defeated under the input voltage
It is displaced out, therefore processor establishes Hysteresis Model by output displacement and input voltage, by the pass of output displacement and input voltage
System can better describe the relationship of lagging characteristics and piezoelectric ceramic actuator to describe lagging characteristics, convenient for subsequent according to the two
Relationship be inhibited the control signals of lagging characteristics, so as to control module using fractional order sliding mode controller according to control signal
Control piezoelectric ceramic actuator；Since there are model errors for Hysteresis Model, and there are multiple parameters, by processing module to sluggishness
Model carries out parameter identification, to obtain the higher target Hysteresis Model of precision, so that the target Hysteresis Model and lagging characteristics
Degree of fitting it is higher, description lagging characteristics on it is more acurrate, consequently facilitating processing module is according to the high-precision target sluggishness mould
Type designs more accurate fractional order sliding mode controller；Fractional order sliding mode controller compares traditional controller, can preferably press down
The jitter problem of sliding-mode surface processed, and calculating process is few, difficulty in computation is low, can largely guarantee to execute piezoelectric ceramics
The real-time of device control, control effect is more preferable, can more effectively inhibit the sluggishness of piezoelectric ceramic actuator during the work time special
Property, it avoids lagging characteristics from influencing precision positioning, tracking and the motion control of manufacturing equipment, improves the working efficiency of sophisticated manufacturing
And product quality.
Preferably, the Hysteresis Model is specially the equivalent Hysteresis Model of Bouc-wen, the processing module also particularly useful for
The equivalent Hysteresis Model of the Bouc-wen is modified, amendment Bouc-wen model is obtained.
It is and slow during actual motion since the equivalent Hysteresis Model of Bouc-wen can describe most of hysteresis system
Stagnant characteristic has preferable degree of fitting, therefore it is equivalent late to obtain by mass-spring-damper mathematics physics model Bouc-wen
Stagnant model can better describe lagging characteristics, and the equivalent Hysteresis Model of above-mentioned Bouc-wen and traditional Bouc-wen model phase
Than being simplified, so that model is more simple, so that the subsequent parameter in model recognizes, it is higher obtaining precision
Target Hysteresis Model；Since the equivalent Hysteresis Model sheet of Bouc-wen is as ideal model, with behavior sluggish during actual motion
There is deviation, therefore is introduced into the equivalent Hysteresis Model of Bouc-wen and the deviation d of initial position (correct sluggish component difference)
And and initial phase deviation(i.e. phase difference value) can be into one to be modified to the equivalent Hysteresis Model of Bouc-wen
Step improves precision of the amendment Bouc-wen model on description lagging characteristics.
Embodiment three is based on embodiment one and embodiment two, and it is slow that the present embodiment also discloses a kind of piezoelectric ceramic actuator
The inhibition system of stagnant characteristic, including processor, memory and storage in the memory and may operate on the processor
Computer program, the computer program run when realize following steps as shown in Figure 1:
S1: obtaining the output displacement that generates under input voltage of piezoelectric ceramic actuator, and according to the output displacement and
The input voltage establishes Hysteresis Model；
S2: parameter identification is carried out to the Hysteresis Model, obtains target Hysteresis Model；
S3: fractional order sliding mode controller is designed according to the target Hysteresis Model, and uses the fractional order sliding formwork control
Device controls the piezoelectric ceramic actuator.
It by storing computer program on a memory, and runs on a processor, realizes piezoelectric ceramics of the invention
The inhibition system of actuator lagging characteristics, can better describe the relationship of lagging characteristics and piezoelectric ceramic actuator, after being convenient for
The control signal of the continuous lagging characteristics that are inhibited, so that fractional order sliding mode controller is executed according to control signal control piezoelectric ceramics
Device, fractional order sliding mode controller compare traditional controller, can preferably inhibit the jitter problem of sliding-mode surface, and calculating process
Less, difficulty in computation is low, can largely guarantee the real-time controlled piezoelectric ceramic actuator, and control effect is more preferable,
The lagging characteristics of piezoelectric ceramic actuator during the work time can more effectively be inhibited, lagging characteristics is avoided to influence manufacturing equipment
Precision positioning, tracking and motion control improve the working efficiency and product quality of sophisticated manufacturing.
The present embodiment also provides a kind of computer storage medium, is stored at least one in the computer storage medium and refers to
It enables, described instruction is performed the specific steps for realizing the S1-S3.
By executing the computer storage medium comprising at least one instruction, realize that piezoelectric ceramic actuator of the invention is slow
The inhibition of stagnant characteristic can better describe the relationship of lagging characteristics and piezoelectric ceramic actuator, be inhibited late convenient for subsequent
The control signal of stagnant characteristic, so that fractional order sliding mode controller controls piezoelectric ceramic actuator according to control signal, fractional order is sliding
Mould controller compares traditional controller, can preferably inhibit the jitter problem of sliding-mode surface, and calculating process is few, difficulty in computation
It is low, it can largely guarantee the real-time controlled piezoelectric ceramic actuator, control effect is more preferable, can more effectively press down
The lagging characteristics of piezoelectric ceramic actuator processed during the work time, avoid lagging characteristics influence manufacturing equipment precision positioning, with
Track and motion control improve the working efficiency and product quality of sophisticated manufacturing.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of suppressing method of piezoelectric ceramic actuator lagging characteristics, which comprises the following steps:
Step 1: obtaining the output displacement that piezoelectric ceramic actuator generates under input voltage, and according to the output displacement and institute
It states input voltage and establishes Hysteresis Model；
Step 2: parameter identification being carried out to the Hysteresis Model, obtains target Hysteresis Model；
Step 3: fractional order sliding mode controller being designed according to the target Hysteresis Model, and uses the fractional order sliding mode controller
The piezoelectric ceramic actuator is controlled.
2. the suppressing method of piezoelectric ceramic actuator lagging characteristics according to claim 1, which is characterized in that the step
1 specifically establishes the Hysteresis Model using the modeling method based on mass-spring-damper mathematics physics model.
3. the suppressing method of piezoelectric ceramic actuator lagging characteristics according to claim 2, which is characterized in that the step
The Hysteresis Model in 1 is specially the equivalent Hysteresis Model of Bouc-wen, the specific public affairs of the equivalent Hysteresis Model of Bouc-wen
Formula are as follows:
Y (t)=k1u(t)+k2h(t)
Wherein, y (t) is the output displacement, and u (t) is the input voltage, and h (t) is the equivalent Hysteresis Model of the Bouc-wen
Sluggish component,First derivative for the sluggish component to the time, D0, A, β, γ and n be reflect lagging characteristics mould
Shape parameter,It is the input voltage to the first derivative of time, α is weight coefficient, ksFor the piezoelectric ceramic actuator
First equivalent stiffness coefficients, k are the second equivalent stiffness coefficients for reflecting the lagging characteristics, k1And k2For according to α, D0, k and
ksResulting first brief note coefficient.
4. the suppressing method of piezoelectric ceramic actuator lagging characteristics according to claim 3, which is characterized in that in the step
Further include being modified to the equivalent Hysteresis Model of the Bouc-wen in rapid 1, obtains amendment Bouc-wen model, the amendment
The specific formula of Bouc-wen model are as follows:
y1(t)=k1u(t)+k2h1(t)+d
Wherein, y1It (t) is amendment output displacement, u1It (t) is amendment input voltage, h1It (t) is the amendment Bouc-wen model
Sluggish component is corrected, d is to correct sluggish component difference,For phase difference value,It is the sluggish component of the amendment to the one of the time
Order derivative,It is the amendment input voltage to the first derivative of time.
5. the suppressing method of piezoelectric ceramic actuator lagging characteristics according to claim 4, which is characterized in that the step
Parameter identification is specifically carried out to the amendment Bouc-wen model using differential evolution method in 2, obtains the target sluggishness mould
Type.
6. the suppressing method of piezoelectric ceramic actuator lagging characteristics according to claim 5, which is characterized in that the step
3 specifically includes the following steps:
Step 31: according to the amendment output displacement in the target Hysteresis Model and the displacement between preset reference displacement
Error determines the sliding-mode surface of the fractional order sliding mode controller；
The sliding-mode surface are as follows:
E=y1-yd；
Wherein, s is the sliding-mode surface, and e is the displacement error, y1For the value of the amendment output displacement, ydFor the reference bit
It moves, c0For the scale parameter and c of the fractional order sliding mode controller0> 0, D are score exponent arithmetic(al), and λ is the order of fractional order；
Step 32: the control law of the fractional order sliding mode controller is determined according to the sliding-mode surface, and according to the control law, institute
Sliding-mode surface and the target Hysteresis Model are stated, the control signal of the fractional order sliding mode controller is obtained；
The control law are as follows:
Wherein,For the first derivative of the sliding-mode surface, k0For exponential approach term coefficient, ε is velocity of approach, and sgn () is switch
Function；
The specific formula of the control signal are as follows:
Wherein, ucIt (t) is the control signal, m is the equivalent mass of the mass-spring-damper mathematics physics model, and c is institute
State the Equivalent damping coefficient of mass-spring-damper mathematics physics model, k3And k4For according to k1And k2Resulting second brief note
Coefficient；
Step 33: the piezoelectric ceramic actuator being controlled according to the control signal.
7. a kind of inhibition system of piezoelectric ceramic actuator lagging characteristics, which is characterized in that including power module, sampling module,
Processing module and control module；
The power module is for providing the input voltage of piezoelectric ceramic actuator；
The sampling module is for obtaining the output displacement that the piezoelectric ceramic actuator generates under the input voltage；
The processing module is used to establish Hysteresis Model according to the output displacement and the input voltage, is also used to described slow
Stagnant model carries out parameter identification, obtains target Hysteresis Model, is also used to design fractional order sliding formwork according to the target Hysteresis Model
Controller；
The control module is used to control the piezoelectric ceramic actuator using the fractional order sliding mode controller.
8. the inhibition system of piezoelectric ceramic actuator lagging characteristics according to claim 7, which is characterized in that the sluggishness
Model is specially the equivalent Hysteresis Model of Bouc-wen, and the processing module is also particularly useful for the equivalent sluggish mould of the Bouc-wen
Type is modified, and obtains amendment Bouc-wen model.
9. a kind of inhibition system of piezoelectric ceramic actuator lagging characteristics, which is characterized in that including processor, memory and storage
It in the memory and may operate at the computer program on the processor, realize when the computer program is run as weighed
Benefit requires method and step described in any one of 1-6 claim.
10. a kind of computer storage medium, which is characterized in that the computer storage medium includes: at least one instruction, in institute
It states instruction and is performed realization as the method according to claim 1 to 6 step.
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