CN109557816B - Method, system and medium for inhibiting hysteresis characteristic of piezoelectric ceramic actuator - Google Patents
Method, system and medium for inhibiting hysteresis characteristic of piezoelectric ceramic actuator Download PDFInfo
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- CN109557816B CN109557816B CN201811625537.1A CN201811625537A CN109557816B CN 109557816 B CN109557816 B CN 109557816B CN 201811625537 A CN201811625537 A CN 201811625537A CN 109557816 B CN109557816 B CN 109557816B
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Abstract
The invention relates to a method, a system and a medium for inhibiting hysteresis characteristics of a piezoelectric ceramic actuator, wherein the method comprises the steps of obtaining output displacement generated by the piezoelectric ceramic actuator under input voltage, and establishing a hysteresis model according to the output displacement and the input voltage; performing parameter identification on the hysteresis model to obtain a target hysteresis model; and designing a fractional order sliding mode controller according to the target hysteresis model, and controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller. The invention describes the hysteresis characteristic by the relation of the output displacement and the input voltage, can better describe the relation of the hysteresis characteristic and the piezoelectric ceramic actuator, controls the piezoelectric ceramic actuator by the fractional order sliding mode controller, better inhibits the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, and can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process.
Description
Technical Field
The invention relates to the technical field of electromechanical control, in particular to a method, a system and a medium for inhibiting hysteresis characteristics of a piezoelectric ceramic actuator.
Background
The piezoelectric ceramic actuator has the advantages of small volume, high energy density, high positioning precision, high resolution, fast frequency response and the like, and is widely applied to the fields of precision positioning, micro-electro-mechanical systems, micro-nano manufacturing technology, nano bioengineering and the like.
For example, flexible electronics requires large-area integration of nano-feature micro-nano structure macro devices on flexible substrates of arbitrary shapes, and the manufacturing process involves precise formation of functional interfaces of materials with different physical properties, such as polymers, metals, non-metals, and nano-materials, which poses a great challenge to the driving, positioning, and motion control performance of manufacturing equipment. Therefore, submicron precision positioning and motion control techniques in the microscopic scale become essential means.
The piezoelectric ceramic actuator is a precise actuator which utilizes a piezoelectric material to generate an inverse piezoelectric effect or an electrostrictive effect in an electric field, directly converts electric energy into mechanical energy to generate micro displacement, and realizes high-resolution displacement output through a displacement amplification mechanism (such as a flexible hinge). However, as a polar material, the inherent non-linear characteristics of the piezoelectric ceramic, such as hysteresis, temperature, creep and dynamic frequency characteristics, especially the hysteresis characteristics, directly affect the motion performance of the system, and cause difficulties and challenges for precise positioning and tracking in the cross-scale jet printing manufacturing.
At present, there are various methods for suppressing the hysteresis characteristics, for example, a fuzzy PID control method based on tracking of a hysteresis model, in which a hysteresis model of a piezoelectric ceramic actuator is first obtained by modeling, and then a corresponding PID controller is designed by using the hysteresis model and a proportional constant k in the PID controller is realized by using a fuzzy control rulepIntegral constant kiAnd a differential constant kdTo compensate for the output displacement of the piezoceramic actuator, but the current method has the following disadvantages:
1. the hysteresis model is an ideal physical model, has model errors and has not high enough fitting degree with hysteresis characteristics;
2. the lag model has more parameters to be identified, a complex identification process and poor effect;
3. the setting of the fuzzy rule makes the calculation process more complicated, which results in higher calculation difficulty, poor real-time performance and general inhibition effect of the hysteresis characteristic. A
Disclosure of Invention
The present invention provides a method, a system and a medium for suppressing hysteresis characteristics of a piezoelectric ceramic actuator, which are directed to overcome the above-mentioned deficiencies of the prior art.
The technical scheme for solving the technical problems is as follows:
a method for suppressing hysteresis characteristics of a piezoelectric ceramic actuator comprises the following steps:
step 1: acquiring output displacement generated by a piezoelectric ceramic actuator under input voltage, and establishing a hysteresis model according to the output displacement and the input voltage;
step 2: performing parameter identification on the hysteresis model to obtain a target hysteresis model;
and step 3: and designing a fractional order sliding mode controller according to the target hysteresis model, and controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller.
The invention has the beneficial effects that: the hysteresis characteristic of the piezoelectric ceramic actuator is directly embodied as the output displacement under the input voltage, a hysteresis model is established through the output displacement and the input voltage, and the hysteresis characteristic is described through the relation between the output displacement and the input voltage, so that the relation between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, a control signal for inhibiting the hysteresis characteristic can be obtained according to the relation between the hysteresis characteristic and the piezoelectric ceramic actuator, and a fractional order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal; because the hysteresis model has model errors and a plurality of parameters, the hysteresis model is subjected to parameter identification to obtain a target hysteresis model with higher precision, so that the fitting degree of the target hysteresis model and hysteresis characteristics is higher, the hysteresis characteristics are more accurately described, and a more accurate fractional order sliding mode controller is designed according to the high-precision target hysteresis model; compared with the traditional controller, the fractional order sliding mode controller can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precise positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of the precise manufacturing industry.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the step 1 specifically adopts a modeling method based on a mass-spring-damping mathematical physical model to establish the hysteresis model.
The beneficial effects of the further scheme are as follows: the hysteresis model is established by adopting a modeling method based on a mass-spring-damping mathematical physical model, the relation between the hysteresis characteristic of the piezoelectric ceramic and the piezoelectric ceramic actuator can be better described, and the model has a simple form and a simple method.
Further: the hysteresis model in the step 1 is specifically a Bouc-wen equivalent hysteresis model, and a specific formula of the Bouc-wen equivalent hysteresis model is as follows:
y(t)＝k1u(t)+k2h(t)
wherein y (t) is the output displacement, u (t) is the input voltage, h (t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,
is the first derivative of the lag component with respect to time, D0A, beta, gamma and n are model parameters reflecting hysteresis characteristics,
is the first derivative of the input voltage with respect to time, alpha is a weight coefficient, ksIs the first equivalent stiffness coefficient of the piezoceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, k1And k2Are all according to alpha and D0K and ksThe resulting first shorthand coefficient.
The beneficial effects of the further scheme are as follows: the Bouc-wen equivalent hysteresis model can describe most hysteresis systems and has better fitting degree with hysteresis characteristics in the actual motion process, so that the Bouc-wen equivalent hysteresis model is obtained through a mass-spring-damping mathematical physical model and can better describe the hysteresis characteristics, and compared with the traditional Bouc-wen model, the Bouc-wen equivalent hysteresis model is simplified, so that the model is simpler, parameters in the model can be identified in the subsequent process, and a target hysteresis model with higher precision is obtained;
wherein, a second equivalent stiffness coefficient k reflecting the hysteresis characteristic is more than 0, and a weight coefficient 0 < alpha < 1; d0A, beta, gamma and n are model parameters reflecting hysteresis characteristics, D0The shape of the hysteresis characteristic curve is specifically controlled by A, beta and gamma, n mainly controls the smoothness of the hysteresis characteristic curve, and when other parameters are fixed and unchanged, the larger the A, the wider the shape of the hysteresis characteristic curve is, and the curve can be deflected anticlockwise; the larger n, the smoother the curve; the size of beta changes the width and the flatness of the hysteresis characteristic curve and also changes the curve deflection; gamma also deflects the curve; d0Usually treated as a constant, usually taking a value of 1.
Further: in the step 1, the method further comprises the step of correcting the Bouc-wen equivalent hysteresis model to obtain a corrected Bouc-wen model, wherein a specific formula of the corrected Bouc-wen model is as follows:
y1(t)＝k1u(t)+k2h1(t)+d
wherein, y1(t) for correcting the output displacement, u1(t) is the corrected input voltage, h1(t) for the modified Bouc-wen modelA correction lag component, d is a correction lag component difference,
in order to be able to calculate the phase difference value,
the first derivative of the modified lag component with respect to time,
is the first derivative of the modified input voltage with respect to time.
The beneficial effects of the further scheme are as follows: since the Bouc-wen equivalent hysteresis model is an ideal model and has deviation from the hysteresis behavior in the actual motion process, the deviation d from the initial position (i.e. the difference of the corrected hysteresis components) and the deviation from the initial phase in the Bouc-wen equivalent hysteresis model are introduced
(i.e., the phase difference value) to modify the Bouc-wen equivalent hysteresis model, the accuracy of the modified Bouc-wen model in describing hysteresis characteristics can be further improved.
Further: in the step 2, parameter identification is carried out on the modified Bouc-wen model by specifically adopting a differential evolution method, so as to obtain the target hysteresis model.
The beneficial effects of the further scheme are as follows: the accuracy of relevant parameters in the correction Bouc-wen model can be improved to a great extent by carrying out parameter identification through a differential evolution method, and the method particularly shows that the higher fitting degree of the correction Bouc-wen model to experimental data in the aspect of describing the hysteresis characteristic of the piezoelectric ceramic is further improved, so that the correction Bouc-wen model is conveniently applied to a fractional order sliding mode controller to describe the hysteresis characteristic of the piezoelectric ceramic, and the hysteresis characteristic is effectively inhibited.
Further: the step 3 specifically comprises the following steps:
step 31: determining a sliding mode surface of the fractional order sliding mode controller according to a displacement error between the corrected output displacement and a preset reference displacement in the target hysteresis model;
the slip form surface is:
e＝y1-yd；
wherein s is the slip form surface, e is the displacement error, y1Outputting the value of the displacement, y, for said correctiondFor said reference displacement, c0Is a proportional parameter of the fractional order sliding mode controller and c0D is a fractional order operation, and lambda is a fractional order;
step 32: determining a control law of the fractional order sliding mode controller according to the sliding mode surface, and obtaining a control signal of the fractional order sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model;
the control law is as follows:
wherein the content of the first and second substances,
is the first derivative of the slip form surface, k0Is an exponential approach term coefficient, epsilon is an approach speed, sgn (·) is a switch function;
the specific formula of the control signal is as follows:
k3＝αk,k4＝D0k(1-α)
wherein u isc(t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical physical model, k3And k4Are all according to k1And k2The obtained second shorthand coefficient;
step 33: and controlling the piezoelectric ceramic actuator according to the control signal.
The beneficial effects of the further scheme are as follows: the parameter precision of the correction Bouc-wen model is improved according to a differential evolution method, the correction output displacement is obtained according to the correction Bouc-wen model (namely a target hysteresis model) after the precision is improved, the displacement error between the correction output displacement and the reference displacement is used as a main variable of a sliding mode surface of a fractional order sliding mode controller, and a corresponding control law is determined according to the sliding mode surface, compared with the traditional sliding mode controller, the jitter problem of the sliding mode surface can be better inhibited, the correction output displacement and the reference displacement can be better tracked in real time, so that the hysteresis characteristic is effectively inhibited, the calculation process is less, the difficulty is low, the real-time performance of positioning control based on a piezoelectric ceramic actuator can be ensured to a great extent, and the control effect is better;
the order λ of the fractional order is generally a value between (0 and 1), and λ ═ 1 is expressed as a conventional sliding mode controller.
According to another aspect of the present invention, a system for suppressing hysteresis characteristics of a piezoelectric ceramic actuator is provided, which includes a power module, a sampling module, a processing module and a control module;
the power supply module is used for providing input voltage of the piezoelectric ceramic actuator;
the sampling module is used for acquiring the output displacement of the piezoelectric ceramic actuator generated under the input voltage;
the processing module is used for establishing a hysteresis model according to the output displacement and the input voltage, performing parameter identification on the hysteresis model to obtain a target hysteresis model, and designing a fractional order sliding mode controller according to the target hysteresis model;
the control module is used for controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller.
The invention has the beneficial effects that: the input voltage of the piezoelectric ceramic actuator is provided through the power supply module, the output displacement generated under the input voltage is acquired by the acquisition module, and the hysteresis characteristic of the piezoelectric ceramic actuator is directly reflected to the output displacement under the input voltage, so that the processor establishes a hysteresis model through the output displacement and the input voltage, describes the hysteresis characteristic through the relation between the output displacement and the input voltage, can better describe the relation between the hysteresis characteristic and the piezoelectric ceramic actuator, is convenient for obtaining a control signal for inhibiting the hysteresis characteristic according to the relation between the output displacement and the input voltage, and is convenient for the control module to control the piezoelectric ceramic actuator according to the control signal by adopting a fractional order sliding mode controller; because the hysteresis model has model errors and a plurality of parameters, the hysteresis model is subjected to parameter identification through the processing module so as to obtain a target hysteresis model with higher precision, so that the fitting degree of the target hysteresis model and hysteresis characteristics is higher, the hysteresis characteristics are more accurately described, and the processing module is convenient to design a more accurate fractional order sliding mode controller according to the high-precision target hysteresis model; compared with the traditional controller, the fractional order sliding mode controller can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precise positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of the precise manufacturing industry.
On the basis of the technical scheme, the invention can be further improved as follows:
further: the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the processing module is further specifically configured to modify the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model.
The beneficial effects of the further scheme are as follows: since the Bouc-wen equivalent hysteresis model can describe most hysteresis systems and has better fitting degree with the hysteresis characteristics in the actual motion process, the Bouc-wen equivalent hysteresis model is obtained through a mass-spring-damping mathematical physical model, the hysteresis characteristics can be better described, and the Bouc-wen equivalent hysteresis model is compared with the traditional Bouc-wen modelSimplification is performed, so that the model is simpler, the parameters in the model can be identified in the following process, and a target hysteresis model with higher precision is obtained; since the Bouc-wen equivalent hysteresis model is an ideal model and has deviation from the hysteresis behavior in the actual motion process, the deviation d from the initial position (i.e. the difference of the corrected hysteresis components) and the deviation from the initial phase in the Bouc-wen equivalent hysteresis model are introduced
(i.e., the phase difference value) to modify the Bouc-wen equivalent hysteresis model, the accuracy of the modified Bouc-wen model in describing hysteresis characteristics can be further improved.
According to another aspect of the present invention, another piezoelectric ceramic actuator hysteresis characteristic suppression system is provided, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, where the computer program is executed to implement the steps in a piezoelectric ceramic actuator hysteresis characteristic suppression method according to the present invention.
The invention has the beneficial effects that: the system for inhibiting the hysteresis characteristic of the piezoelectric ceramic actuator can better describe the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator by running a computer program stored in a memory on a processor, is convenient for obtaining a control signal for inhibiting the hysteresis characteristic subsequently, so that the fractional order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal, compared with the traditional controller, the method can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precision positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of precision manufacturing industry.
In accordance with another aspect of the present invention, there is provided a computer storage medium comprising: at least one instruction, when executed, implements a step in a method for suppressing hysteresis characteristics of a piezoceramic actuator according to the present invention.
The invention has the beneficial effects that: the suppression of the hysteresis characteristic of the piezoelectric ceramic actuator is realized by executing a computer storage medium containing at least one instruction, the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, a control signal for suppressing the hysteresis characteristic is conveniently obtained subsequently, so that the fractional order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal, compared with the traditional controller, the method can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precision positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of precision manufacturing industry.
Drawings
FIG. 1 is a first schematic flow chart of a method for suppressing hysteresis of a piezoelectric ceramic actuator according to the present invention;
FIG. 2 is a schematic flow chart of a method for suppressing hysteresis of a piezoelectric ceramic actuator according to the present invention;
FIG. 3 is a schematic structural diagram of a mass-spring-damping mathematical physical model according to an embodiment of the present invention;
FIG. 4-1 is a schematic diagram illustrating the input voltage versus output displacement according to the first embodiment of the present invention, under an input voltage signal of 2Hz, without modification of the Bouc-Wen equivalent hysteresis model;
FIG. 4-2 is a schematic diagram illustrating the input voltage versus output displacement according to the first embodiment of the present invention, under an input voltage signal of 8Hz, in an unmodified Bouc-Wen equivalent hysteresis model;
FIG. 5-1 is a hysteresis graph of a modified Bouc-Wen model describing input voltage and output displacement at an input voltage signal of 2Hz in accordance with one embodiment of the present invention;
FIG. 5-2 is a hysteresis graph of a modified Bouc-Wen model describing input voltage and output displacement at an input voltage signal of 8Hz in accordance with one embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a parameter identification process using a differential evolution method according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a fractional order sliding mode controller according to an embodiment of the present invention;
FIG. 8-1 is a waveform illustrating tracking of output displacement controlled by a conventional sliding mode controller according to a first embodiment of the present invention;
FIG. 8-2 is a waveform diagram illustrating tracking of output displacement controlled by a fractional sliding mode controller according to an embodiment of the present invention;
FIG. 9-1 is a waveform illustrating tracking of displacement error controlled by a conventional sliding mode controller according to a first embodiment of the present invention;
FIG. 9-2 is a waveform diagram illustrating tracking displacement error controlled by a fractional sliding mode controller according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a system for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The present invention will be described with reference to the accompanying drawings.
In a first embodiment, as shown in fig. 1, a method for suppressing hysteresis characteristics of a piezoelectric ceramic actuator includes the following steps:
s1: acquiring output displacement generated by a piezoelectric ceramic actuator under input voltage, and establishing a hysteresis model according to the output displacement and the input voltage;
s2: performing parameter identification on the hysteresis model to obtain a target hysteresis model;
s3: and designing a fractional order sliding mode controller according to the target hysteresis model, and controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller.
The hysteresis characteristic of the piezoelectric ceramic actuator is directly embodied as the output displacement under the input voltage, a hysteresis model is established through the output displacement and the input voltage, and the hysteresis characteristic is described through the relation between the output displacement and the input voltage, so that the relation between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, a control signal for inhibiting the hysteresis characteristic can be obtained according to the relation between the hysteresis characteristic and the piezoelectric ceramic actuator, and a fractional order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal; because the hysteresis model has model errors and a plurality of parameters, the hysteresis model is subjected to parameter identification to obtain a target hysteresis model with higher precision, so that the fitting degree of the target hysteresis model and hysteresis characteristics is higher, the hysteresis characteristics are more accurately described, and a more accurate fractional order sliding mode controller is designed according to the high-precision target hysteresis model; compared with the traditional controller, the fractional order sliding mode controller can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precise positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of the precise manufacturing industry.
Preferably, as shown in fig. 2 and 3, S1 specifically uses a modeling method based on a mass-spring-damping mathematical physical model to establish the hysteresis model.
Preferably, as shown in fig. 2, the hysteresis model in S1 is specifically a Bouc-wen equivalent hysteresis model, and a specific formula of the Bouc-wen equivalent hysteresis model is:
y(t)＝k1u(t)+k2h(t)
wherein y (t) is the output displacement, u (t) is the input voltage, and h (t) is the lag of the Bouc-wen equivalent hysteresis modelThe amount of the hysteresis component is,
is the first derivative of the lag component with respect to time, D0A, beta, gamma and n are model parameters reflecting hysteresis characteristics,
is the first derivative of the input voltage with respect to time, alpha is a weight coefficient, ksIs the first equivalent stiffness coefficient of the piezoceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, k1And k2Are all according to alpha and D0K and ksThe resulting first shorthand coefficient.
k＞0，0＜α＜1，D0A, beta, gamma and n are model parameters reflecting hysteresis characteristics, D0The shape of the hysteresis characteristic curve is specifically controlled by A, beta and gamma, n mainly controls the smoothness of the hysteresis characteristic curve, and when other parameters are fixed and unchanged, the larger the A, the wider the shape of the hysteresis characteristic curve is, and the curve can be deflected anticlockwise; the larger n, the smoother the curve; the size of beta changes the width and the flatness of the hysteresis characteristic curve and also changes the curve deflection; gamma also deflects the curve; d0Usually treated as a constant, usually taking a value of 1.
The structural schematic diagram of the mass-spring-damping mathematical physical model adopted in this embodiment is shown in fig. 3, and under the action of the input voltage u (t), the piezoceramic actuator extends and generates a force F to act on m, resulting in an output displacement y (t), and the kinetic equation is as follows:
wherein m is the equivalent mass of the mass-spring-damping mathematical physical model, and c is the equivalent damping coefficient of the mass-spring-damping mathematical physical model.
The input of the mass-spring-damping mathematical physical model with the hysteresis behavior is the input voltage of the piezoelectric ceramic actuator, and the hysteresis output f (t) is equivalent to a function of the input voltage u (t), so that a Bouc-Wen model describing the hysteresis characteristic is obtained, and the Bouc-Wen model is specifically as follows:
for convenience of description, the functional expression in the subsequent formula is in an abbreviated manner, for example, y (t) is represented by y.
Due to the inherent hysteresis characteristic of the piezoceramic material, a hysteresis nonlinear relation is formed between the output force F and the input voltage u (t), so that the following results are obtained according to a dynamic equation of a mass-spring-damping mathematical physical model and a Bouc-Wen model:
in order to prevent vibrations and heating, the piezoceramic actuators are generally driven at a lower input voltage frequency, whereas under low-frequency voltage loading, the equations in the dynamics
And
the effect is negligible; and for the convenience of subsequent calculation, the formula is simplified to obtain a Bouc-Wen equivalent hysteresis model as follows:
y(t)＝k1u(t)+k2h(t)
the hysteresis model is established by adopting a modeling method based on a mass-spring-damping mathematical physical model, so that the relation between the hysteresis characteristic of the piezoelectric ceramic and the piezoelectric ceramic actuator can be better described, and the model has a simple form and a simple method; the Bouc-wen equivalent hysteresis model can describe most hysteresis systems and has a good fitting degree with hysteresis characteristics in the actual motion process, so that the Bouc-wen equivalent hysteresis model is obtained through a mass-spring-damping mathematical physical model and can better describe the hysteresis characteristics, and compared with the traditional Bouc-wen model, the Bouc-wen equivalent hysteresis model is simplified, so that the model is simpler, parameters in the model can be identified in the subsequent process, and a target hysteresis model with higher precision is obtained.
Preferably, as shown in fig. 2, in S1, the method further includes modifying the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model, where a specific formula of the modified Bouc-wen model is:
y1(t)＝k1u(t)+k2h1(t)+d
wherein, y1(t) for correcting the output displacement, u1(t) is the corrected input voltage, h1(t) is the modified lag component of the modified Bouc-wen model, d is the modified lag component difference,
in order to be able to calculate the phase difference value,
the first derivative of the modified lag component with respect to time,
is the first derivative of the modified input voltage with respect to time.
Since the Bouc-wen equivalent hysteresis model is an ideal model and has deviation from the hysteresis behavior in the actual motion process, the deviation d from the initial position (i.e. the difference of the corrected hysteresis components) and the deviation from the initial phase in the Bouc-wen equivalent hysteresis model are introduced
(namely, the phase difference value) to correct the Bouc-wen equivalent hysteresis model, so that the accuracy of the corrected Bouc-wen model in describing hysteresis characteristics can be further improved; the embodiment can adjust the correction hysteresis component difference value d and the phase difference value through multiple times of experiments
So as to realize the correction of the Bouc-wen equivalent hysteresis model and obtain the corrected output displacement y1(t)。
In this embodiment, the unmodified Bouc-wen equivalent hysteresis model of the previous step is used to verify the output displacement, so as to verify the description of the hysteresis characteristic, specifically as shown in fig. 4-1 and 4-2, where fig. 4-1 and 4-2 are hysteresis graphs for describing the input voltage and the output displacement by using the unmodified Bouc-wen equivalent hysteresis model under the input voltage signal of 2Hz and the input voltage signal of 8Hz, respectively;
in this embodiment, output displacement is verified under the same condition according to the modified Bouc-wen model, specifically as shown in fig. 5-1 and 5-2, where fig. 5-1 and 5-2 are hysteresis graphs of input voltage and output displacement described by the modified Bouc-wen model under the input voltage frequency of 2Hz and the input voltage frequency of 8Hz, respectively;
from fig. 4-1 and 4-2, and fig. 5-1 and 5-2, it is apparent that the modified Bouc-wen equivalent hysteresis model (i.e., the modified Bouc-wen model) is more accurate in describing the hysteresis relationship between the input voltage of the piezoceramic actuator and the output displacement of the piezoceramic actuator.
Preferably, as shown in fig. 1 and fig. 2, in S2, the modified Bouc-wen model is subjected to parameter identification by specifically adopting a differential evolution method, so as to obtain the target hysteresis model.
The problem of improving parameter accuracy is generally based on experimental data, and the parameter accuracy of the model is improved by using a parameter identification method. The operating parameters of the differential evolution method mainly include: a variation factor F, a crossover factor CR, a population size M and a maximum number of iterations G. The variation factor F is an important parameter for controlling the diversity and convergence of the population and generally takes a value between [0 and 2 ]; when the value of the variation factor F is smaller, the diversity of the population is reduced, and the evolution process is not easy to jump out of a local extreme value, so that the population is prematurely converged; when the variation factor F is large, the local extremum is likely to jump out, but the convergence rate is slow. The crossover factor CR may control the degree of participation of the dimensions of the individual parameters in the crossover, as well as the balance of global and local search capabilities, typically between 0, 1. The smaller the cross factor CR, the smaller the population diversity and the susceptibility to premature convergence. The larger CR, the larger the convergence speed, but too large may cause the convergence to become slow. The larger CR, the smaller F, the more accelerated the population convergence, but with the increase of the cross factor CR, the sensitivity of the convergence to the variation factor F increases. The larger the population scale M is, the stronger the population diversity is, the greater the probability of obtaining the optimal solution is, but the longer the calculation time is. The maximum number of iterations G generally serves as a termination condition for the evolution process. The larger the number of iterations, the more accurate the optimal solution, but the longer the simultaneous calculation time.
Therefore, the above 4 parameters have great influence on both the solving result and the solving efficiency of the differential evolution method, and a better effect can be obtained only by reasonably setting the above 4 parameters, and the specific flow of the differential evolution method of this embodiment is as follows:
(1) initializing a population, determining control parameters of a differential evolution algorithm, and determining a fitness function; the control parameters of the differential evolution algorithm comprise: a variation factor F, a cross factor CR, a population scale M and a maximum iteration number G;
(2) evaluating the initial population, namely calculating the fitness value of each individual in the initial population;
(3) judging whether a termination condition is reached or an evolution algebra is maximized; if so, terminating the evolution, and outputting the obtained optimal individual as an optimal result; if not, continuing;
(4) carrying out variation and cross operation to obtain an intermediate population;
(5) selecting better individuals from the original population and the intermediate population as a new generation population;
(6) changing the evolution iteration times G to G +1, and turning to the step (2);
the specific flow diagram is shown in fig. 6.
The accuracy of relevant parameters in the correction Bouc-wen model can be improved to a great extent by carrying out parameter identification through a differential evolution method, and the method particularly shows that the higher fitting degree of the correction Bouc-wen model to experimental data in the aspect of describing the hysteresis characteristic of the piezoelectric ceramic is further improved, so that the correction Bouc-wen model is conveniently applied to a fractional order sliding mode controller to describe the hysteresis characteristic of the piezoelectric ceramic, and the hysteresis characteristic is effectively inhibited.
Preferably, as shown in fig. 1 and 2, S3 specifically includes the following steps:
step 31: determining a sliding mode surface of the fractional order sliding mode controller according to a displacement error between the corrected output displacement and a preset reference displacement in the target hysteresis model;
the slip form surface is:
e＝y1-yd；
wherein s is the slip form surface, e is the displacement error, y1Outputting the value of the displacement, y, for said correctiondFor said reference displacement, c0Is a proportional parameter of the fractional order sliding mode controller and c0D is a fractional order operation, and lambda is a fractional order;
step 32: determining a control law of the fractional order sliding mode controller according to the sliding mode surface, and obtaining a control signal of the fractional order sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model;
the control law is as follows:
wherein the content of the first and second substances,
is the first derivative of the slip form surface, k0Is an exponential approach term coefficient, epsilon is an approach speed, sgn (·) is a switch function;
the specific formula of the control signal is as follows:
wherein u isc(t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical physical model, k3And k4Are all according to k1And k2The obtained second shorthand coefficient;
step 33: and controlling the piezoelectric ceramic actuator according to the control signal.
The parameter precision of the correction Bouc-wen model is improved according to a differential evolution method, the correction output displacement is obtained according to the correction Bouc-wen model (namely a target hysteresis model) after the precision is improved, the displacement error between the correction output displacement and the reference displacement is used as a main variable of a sliding mode surface of a fractional order sliding mode controller, and a corresponding control law is determined according to the sliding mode surface, compared with the traditional sliding mode controller, the jitter problem of the sliding mode surface can be better inhibited, the correction output displacement and the reference displacement can be better tracked in real time, so that the hysteresis characteristic is effectively inhibited, the calculation process is less, the difficulty is low, the real-time performance of positioning control based on a piezoelectric ceramic actuator can be ensured to a great extent, and the control effect is better;
the order λ of the fractional order is generally a value between (0 and 1), and λ ═ 1 is expressed as a conventional sliding mode controller.
A schematic structural diagram of a fractional order sliding mode controller designed according to the above steps in this embodiment is shown in fig. 7.
In this embodiment, the stability of the obtained fractional order sliding mode controller is also proved by using Lyapunov stability theorem, and the energy function is selected as follows:
wherein V is an energy function; easy to prove
The proof procedure is as follows:
therefore, the fractional order sliding mode controller designed in the embodiment is used for controlling the piezoelectric ceramic actuator to be high in stability, and can effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator.
Specifically, the relevant parameters of the piezoelectric ceramic actuator and the fractional order sliding mode controller selected in this embodiment are respectively:
mass m is 1.45kg, equivalent damping coefficient c is 11Ns/m, and first equivalent stiffness coefficient k iss＝9.998×105N/m, reference displacement ydThe signal is a sinusoidal signal with the frequency of 2Hz and the peak value of 10 μm.
The traditional sliding mode controller and the fractional order sliding mode controller are respectively adopted to control the piezoelectric ceramic actuator, under the condition of steady-state operation, the obtained output displacement tracking oscillogram is respectively shown in fig. 8-1 and fig. 8-2, and as can be seen from fig. 8-1 and fig. 8-2, the displacement tracking fitting degree of the fractional order sliding mode controller of the embodiment is higher; in addition, displacement error tracking oscillograms under the conventional sliding mode control and the fractional order sliding mode control are obtained respectively, as shown in fig. 9-1 and fig. 9-2, respectively, and as can be seen from fig. 9-1 and fig. 9-2, the peak-to-peak value of the tracking error in the conventional sliding mode control is 0.076 μm, while the peak-to-peak value of the tracking error in the fractional order sliding mode control is 0.014 μm, and the peak-to-peak value of the tracking error is reduced by 81.5%. Therefore, the method for inhibiting the hysteresis characteristic of the piezoelectric ceramic actuator can obviously and effectively inhibit the hysteresis characteristic, and can effectively improve the precision positioning, tracking and motion control of precision equipment adopting the piezoelectric ceramic actuator, thereby improving the working efficiency and product quality of precision manufacturing industry.
In a second embodiment, as shown in fig. 10, a piezoelectric ceramic actuator hysteresis characteristic suppression system includes a power module, a sampling module, a processing module, and a control module;
the power supply module is used for providing input voltage of the piezoelectric ceramic actuator;
the sampling module is used for acquiring the output displacement of the piezoelectric ceramic actuator generated under the input voltage;
the processing module is used for establishing a hysteresis model according to the output displacement and the input voltage, performing parameter identification on the hysteresis model to obtain a target hysteresis model, and designing a fractional order sliding mode controller according to the target hysteresis model;
the control module is used for controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller.
In this embodiment, a power module provides an input voltage of a piezoelectric ceramic actuator, an acquisition module acquires an output displacement generated under the input voltage, and a hysteresis characteristic of the piezoelectric ceramic actuator is directly reflected as the output displacement under the input voltage, so that a processor establishes a hysteresis model through the output displacement and the input voltage, and describes the hysteresis characteristic through a relationship between the output displacement and the input voltage, so that the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, and a control signal for suppressing the hysteresis characteristic can be obtained subsequently according to the relationship between the output displacement and the input voltage, so that the control module controls the piezoelectric ceramic actuator according to the control signal by adopting a fractional order sliding mode controller; because the hysteresis model has model errors and a plurality of parameters, the hysteresis model is subjected to parameter identification through the processing module so as to obtain a target hysteresis model with higher precision, so that the fitting degree of the target hysteresis model and hysteresis characteristics is higher, the hysteresis characteristics are more accurately described, and the processing module is convenient to design a more accurate fractional order sliding mode controller according to the high-precision target hysteresis model; compared with the traditional controller, the fractional order sliding mode controller can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precise positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of the precise manufacturing industry.
Preferably, the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the processing module is further specifically configured to modify the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model.
The Bouc-wen equivalent hysteresis model can describe most hysteresis systems and has better fitting degree with hysteresis characteristics in the actual motion process, so that the Bouc-wen equivalent hysteresis model is obtained through a mass-spring-damping mathematical physical model and can better describe the hysteresis characteristics, and compared with the traditional Bouc-wen model, the Bouc-wen equivalent hysteresis model is simplified, so that the model is simpler, parameters in the model can be identified in the subsequent process, and a target hysteresis model with higher precision is obtained; since the Bouc-wen equivalent hysteresis model is an ideal model and has deviation from the hysteresis behavior in the actual motion process, the deviation d from the initial position (i.e. the difference of the corrected hysteresis components) and the deviation from the initial phase in the Bouc-wen equivalent hysteresis model are introduced
(i.e., the phase difference value) to modify the Bouc-wen equivalent hysteresis model, the accuracy of the modified Bouc-wen model in describing hysteresis characteristics can be further improved.
Third embodiment, based on the first embodiment and the second embodiment, the present embodiment further discloses a system for suppressing hysteresis characteristics of a piezoceramic actuator, which includes a processor, a memory, and a computer program stored in the memory and operable on the processor, where the computer program implements the following steps shown in fig. 1 when running:
s1: acquiring output displacement generated by a piezoelectric ceramic actuator under input voltage, and establishing a hysteresis model according to the output displacement and the input voltage;
s2: performing parameter identification on the hysteresis model to obtain a target hysteresis model;
s3: and designing a fractional order sliding mode controller according to the target hysteresis model, and controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller.
The system for inhibiting the hysteresis characteristic of the piezoelectric ceramic actuator can better describe the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator by running a computer program stored in a memory on a processor, is convenient for obtaining a control signal for inhibiting the hysteresis characteristic subsequently, so that the fractional order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal, compared with the traditional controller, the method can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precision positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of precision manufacturing industry.
The present embodiment also provides a computer storage medium having at least one instruction stored thereon, where the instruction when executed implements the specific steps of S1-S3.
The suppression of the hysteresis characteristic of the piezoelectric ceramic actuator is realized by executing a computer storage medium containing at least one instruction, the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, a control signal for suppressing the hysteresis characteristic is conveniently obtained subsequently, so that the fractional order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal, compared with the traditional controller, the method can better inhibit the jitter problem of the sliding mode surface, has less calculation process and low calculation difficulty, can ensure the real-time performance of the control of the piezoelectric ceramic actuator to a great extent, has better control effect, can more effectively inhibit the hysteresis characteristic of the piezoelectric ceramic actuator in the working process, avoids the influence of the hysteresis characteristic on the precision positioning, tracking and motion control of manufacturing equipment, and improves the working efficiency and product quality of precision manufacturing industry.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. A method for suppressing hysteresis characteristics of a piezoelectric ceramic actuator is characterized by comprising the following steps:
step 1: acquiring output displacement generated by a piezoelectric ceramic actuator under input voltage, and establishing a hysteresis model according to the output displacement and the input voltage;
step 2: performing parameter identification on the hysteresis model to obtain a target hysteresis model;
and step 3: designing a fractional order sliding mode controller according to the target hysteresis model, and controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller;
the step 1 specifically adopts a modeling method based on a mass-spring-damping mathematical physical model to establish the hysteresis model; the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the specific formula of the Bouc-wen equivalent hysteresis model is as follows:
wherein y (t) is the output displacement, u (t) is the input voltage, h (t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,
is the first derivative of the lag component with respect to time, D0A, beta, gamma and n are model parameters reflecting hysteresis characteristics,
is the first derivative of the input voltage with respect to time, alpha is a weight coefficient, ksIs the first equivalent stiffness coefficient of the piezoceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, k1And k2Are all according to alpha and D0K and ksThe obtained first brevity coefficient;
in the step 1, the method further comprises the step of correcting the Bouc-wen equivalent hysteresis model to obtain a corrected Bouc-wen model, wherein a specific formula of the corrected Bouc-wen model is as follows:
wherein, y1(t) for correcting the output displacement, u1(t) is the corrected input voltage, h1(t) is the modified lag component of the modified Bouc-wen model, d is the modified lag component difference,
in order to be able to calculate the phase difference value,
the first derivative of the modified lag component with respect to time,
a first derivative of the modified input voltage with respect to time;
in the step 2, parameter identification is carried out on the modified Bouc-wen model by specifically adopting a differential evolution method to obtain the target hysteresis model;
the step 3 specifically comprises the following steps:
step 31: determining a sliding mode surface of the fractional order sliding mode controller according to a displacement error between the corrected output displacement and a preset reference displacement in the target hysteresis model;
the slip form surface is:
e＝y1-yd；
wherein s is the slip form surface, e is the displacement error, y1Outputting the value of the displacement, y, for said correctiondFor said reference displacement, c0Is a proportional parameter of the fractional order sliding mode controller and c0D is a fractional order operation, and lambda is a fractional order;
step 32: determining a control law of the fractional order sliding mode controller according to the sliding mode surface, and obtaining a control signal of the fractional order sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model;
the control law is as follows:
wherein the content of the first and second substances,
is the first derivative of the slip form surface, k0Is an exponential approach term coefficient, epsilon is an approach speed, sgn (·) is a switch function;
the specific formula of the control signal is as follows:
wherein u isc(t) is the control signal, m is the mass-spring-damping mathematical physical modelC is the equivalent damping coefficient of the mass-spring-damping mathematical physical model, k3And k4Are all according to k1And k2The obtained second shorthand coefficient;
step 33: and controlling the piezoelectric ceramic actuator according to the control signal.
2. The system for suppressing the hysteresis characteristic of the piezoelectric ceramic actuator is characterized by comprising a power supply module, a sampling module, a processing module and a control module;
the power supply module is used for providing input voltage of the piezoelectric ceramic actuator;
the sampling module is used for acquiring the output displacement of the piezoelectric ceramic actuator generated under the input voltage;
the processing module is used for establishing a hysteresis model according to the output displacement and the input voltage, performing parameter identification on the hysteresis model to obtain a target hysteresis model, and designing a fractional order sliding mode controller according to the target hysteresis model;
the control module is used for controlling the piezoelectric ceramic actuator by adopting the fractional order sliding mode controller;
the processing module is specifically used for establishing the hysteresis model by adopting a modeling method based on a mass-spring-damping mathematical physical model; the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the specific formula of the Bouc-wen equivalent hysteresis model is as follows:
wherein y (t) is the output displacement, u (t) is the input voltage, h (t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,
is the first derivative of the lag component with respect to time, D0A, beta, gamma and n are allThe model parameters that reflect the hysteresis characteristics,
is the first derivative of the input voltage with respect to time, alpha is a weight coefficient, ksIs the first equivalent stiffness coefficient of the piezoceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, k1And k2Are all according to alpha and D0K and ksThe obtained first brevity coefficient;
the processing module is further specifically configured to modify the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model, where a specific formula of the modified Bouc-wen model is as follows:
wherein, y1(t) for correcting the output displacement, u1(t) is the corrected input voltage, h1(t) is the modified lag component of the modified Bouc-wen model, d is the modified lag component difference,
in order to be able to calculate the phase difference value,
the first derivative of the modified lag component with respect to time,
a first derivative of the modified input voltage with respect to time;
the processing module is specifically used for performing parameter identification on the modified Bouc-wen model by adopting a differential evolution method to obtain the target hysteresis model;
the processing module is further specifically configured to:
determining a sliding mode surface of the fractional order sliding mode controller according to a displacement error between the corrected output displacement and a preset reference displacement in the target hysteresis model;
the slip form surface is:
e＝y1-yd；
wherein s is the slip form surface, e is the displacement error, y1Outputting the value of the displacement, y, for said correctiondFor said reference displacement, c0Is a proportional parameter of the fractional order sliding mode controller and c0D is a fractional order operation, and lambda is a fractional order;
determining a control law of the fractional order sliding mode controller according to the sliding mode surface, and obtaining a control signal of the fractional order sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model;
the control law is as follows:
wherein the content of the first and second substances,
is the first derivative of the slip form surface, k0Is an exponential approach term coefficient, epsilon is an approach speed, sgn (·) is a switch function;
the specific formula of the control signal is as follows:
wherein u isc(t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical physical model, k3And k4Are all according to k1And k2The obtained second shorthand coefficient;
the control module is specifically used for controlling the piezoelectric ceramic actuator according to the control signal.
3. A system for suppressing hysteresis in a piezoceramic actuator, comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the computer program when executed implementing the method steps of claim 1.
4. A computer storage medium, the computer storage medium comprising: at least one instruction which, when executed, implements the method steps of claim 1.
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