基于Bouc-Wen前馈及模糊PID反馈的三层MFC-PBP并联变形翼大位移控制OA

The three-layer macro-fiber composite posted buckled pre-compressed bimorph(MFC-PBP)parallel morphing wing has strong hysteresis nonlinearity,which seriously affects the deformation control accuracy.To realize the precise deformation control,this paper proposes a large-displacement tracking control strategy of three-layer MFC-PBP parallel morphing wing with Bouc-Wen inverse model as feedforward compensation and fuzzy PID as feedback controller.Firstly,genetic algorithm is used to identify the parameters of Bouc-Wen model,then the feedforward model is established and the open-loop control test is carried out for the morphing wing.Secondly,the fuzzy PID feedback controller is added to obtain the closed-loop control which can change the PID parameters adaptively.The test results of deformation tracking control show that the relative error(RE)of Bouc-Wen feedforward control is about 13.5%,the RE of feedforward combined with fuzzy PID is less than 4%,which greatly improves the precision of deformation control.