一种基于率相关回滞的压电带载驱动建模方法

冯颖 冯俊杰 Subhash Rakheja 姜辉

doi:10.3969/j.issn.1000-565X.2018.08.009

华南理工大学学报(自然科学版) >

2018 , Vol. 46 >Issue 8: 57 - 63

DOI: https://doi.org/10.3969/j.issn.1000-565X.2018.08.009

电子、通信与自动控制

一种基于率相关回滞的压电带载驱动建模方法

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1．华南理工大学自主系统与网络控制教育部重点实验室∥自动化科学与工程学院，广东广州 510640;
2．康科迪亚大学工程与计算机科学学院，蒙特利尔魁北克加拿大 H3G 1M8;
3．桂林电子科技大学电子工程与自动化学院，广西桂林 541004

收稿日期: 2017-12-06

修回日期: 2018-03-07

网络出版日期: 2018-07-01

基金资助

国家重点研发计划项目(2017YFB1302302);
广东省科技计划项目(2017A010102004);
广东省自然科学基金资助项目(2018A030313331);
桂林电子科技大学智能综合自动化高校重点实验室开放基金资助项目(GXZDSY2016-02);
华南理工大学中央高校基本科研业务费专项资金资助项目(2018MS71)

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Modeling Approach Based on Ｒate-Dependent Hysteresis for Piezoelectric Actuating Mechanism with Load

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1． School of Automation Science and Engineering∥Key Laboratory of Autonomous Systems and Networked Control，South China University of Technology，Guangzhou 510640，Guangdong，China;
2． Faculty of Engineering and Computer Science，Concordia University，Montreal H3G 1M8，Quebec，Canada;
3． School of Electronic Engineering and Automation，Guilin University of Electronic Technology，Guilin 541004，Guangxi，China

Received date: 2017-12-06

Revised date: 2018-03-07

Online published: 2018-07-01

Supported by

Supported by the National Key Ｒesearch and Development Program of China(2017YFB1302302)， the Science and Technology Planning Project of Guangdong Province(2017A010102004)， and the Natural Science Foundation of Guangdong Province(2018A030313331)

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摘要

以压电驱动器为代表的智能材料驱动器，以其能实现微纳米级精密驱动的优势逐步在精密装备中得以应用。但其内部的回滞非线性在微纳米级驱动性能要求下成为限制精度提升的瓶颈。本文以压电驱动器作为研究对象，在变化输入信号频率的条件下研究其带载输出特性，结合压电驱动器的机电特性，提出一种有效的压电驱动系统带载环境下的建模方法。所提方法基于Rate-dependent Prandtl-Ishlinskii (RDPI)回滞模型，同时考虑工作频率增加时载荷对系统输出所造成的影响，克服常规RDPI回滞模型无法表征带载条件下输出特性的局限，有效反映压电驱动系统在带载环境下的输出特性。结合压电驱动系统带载2.94N工作条件，完成1-80Hz宽驱动频率范围的实验验证。对比结果验证了所提出的建模策略的有效性。

关键词： 压电驱动器; 回滞; 动态特性; 建模

本文引用格式

冯颖冯俊杰 Subhash Rakheja 姜辉 . 一种基于率相关回滞的压电带载驱动建模方法[J]. 华南理工大学学报(自然科学版), 2018 , 46(8) : 57 -63 . DOI: 10.3969/j.issn.1000-565X.2018.08.009

Abstract

As a class of smart material-based actuators，piezoelectric actuators have been widely applied in the micro-nano actuating equipment． However，the nonlinearities existing in the smart materials become the main

obstacle for the improvement of actuating precision． Considering the electromechanical characteristics of the piezoelectric actuator，a modeling method is proposed to characterize the input-output relationship of the

piezoelectric actuating system with an external mechanical load in a wide working frequency range． The proposed

model is based on the rate-dependent PrandtlIshlinskii (ＲDPI) hysteresis model and shows an effective way to work around the limitation of ＲDPI hysteresis model，representing the effects analytically caused by the mechanical load with an increase in actuating frequency． With the mechanical load 2. 94N，the experiments for the piezoelectric actuating system are conducted in the frequency range 1 ～80 Hz． Good agreement is found between the mea

sured and predicted input-output curves to show the effectiveness of the proposed modeling method．

Key words：

piezoelectric actuator; hysteresis; dynamics; modeling

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