压电驱动的快速刀具定位台自抗扰控制研究
Research on active disturbance rejection control of fast tool positioning table based on piezoelectric drive
胡高峰 1逯俊体2
作者信息
- 1. 天津职业技术师范大学机械工程学院,天津 300222;天津市高速切削与精密加工重点实验室,天津 300222
- 2. 天津职业技术师范大学机械工程学院,天津 300222
- 折叠
摘要
针对压电驱动器输入电压与输出位移的动态迟滞特性,采用基于Prandtl-Ishlinskii的压电动态迟滞模型,实现了对刀具定位台的精确控制.实验分别采用逆模型前馈补偿控制和自抗扰控制方法对定位台控制系统进行测试,结果表明在单频输入信号下,采用自抗扰控制算法的系统均方根误差较逆模型前馈控制下降了 1.137～1.137 5 µm;系统相对误差有明显下降.结论表明自抗扰控制成功减小了定位台的迟滞特性,提高了控制精度,较逆模型前馈补偿控制有更好的优越性.
Abstract
Aiming at the dynamic hysteresis characteristics of input voltage and output displacement of piezoelectric drivers,a piezoelectric dynamic hysteresis model based on Prandtl-Ishlinskii is used,for precise control of the tool positioning table.The results show that under the single-frequency input signal,the root mean square error of the system using the active disturbance rejection control algorithm is 1.137～1.137 5 μm lower than that of the inverse model feedforward control.The relative error of the system has decreased significantly.The results show that the active disturbance rejection control successfully reduces the hysteresis characteristics of the positioning station,improves the control accuracy,and has better advantages than the inverse model feed-forward compensation compensation control.
关键词
快速刀具定位台/Prandtl-Ishlinskii模型/跟踪控制/迟滞逆模型/自抗扰控制Key words
fast tool positioning platform/Prandtl-Ishlinskii model/tracking control/hysteresis inverse model/disturbance rejection control引用本文复制引用
基金项目
天津市教委科研项目(2021KJ028)
天津市研究生科研创新项目(2022SKYZ017)
出版年
2024
NETL
NSTL
维普
万方数据