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超磁致伸缩作动器的率相关建模与跟踪控制

, PP. 1360-1365

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Abstract:

利用Hammerstein模型对超磁致伸缩作动器(GMA,GiantMagnetostrictiveActuators)进行建模,分别以改进的Prandtl-Ishlinskii(MPI,ModifiedPrandtl-Ishlinskii)模型和外因输入自回归模型(ARX,Autoregressivemodelwithexogenousinput)代表Hammerstein模型中的静态非线性部分和线性动态部分,并给出了模型的辨识方法.此模型能在1~100Hz频率范围内较好地描述GMA的率相关迟滞非线性特性.提出了前馈逆补偿和比例-微分-积分(PID,Proportional-Integral-Derivative)反馈相结合的复合控制策略.实时跟踪幅值为16μm的单一频率和复合频率正弦参考输入信号,均方根误差小于1μm,相对误差小于10%,证明了控制策略的有效性.

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