光学精密工程2024，Vol.32Issue(11)：1724-1735,12.DOI:10.37188/OPE.20243211.1724
压电陶瓷作动器的卡尔曼滤波输出反馈预测控制
Kalman filter based output feedback predictive control for piezoelectric ceramic actuators
摘要
Abstract
To mitigate the influence of hysteresis and nonlinearity in piezoelectric ceramics on the accuracy of piezoelectric micropositioning platforms,the Hammerstein model is employed to describe the frequency-dependent hysteretic nonlinearity of piezoelectric ceramic actuators.This model comprises an asymmetric Bouc-Wen model and a dynamic linear model to represent static hysteresis nonlinearity and frequency-de-pendent dynamic properties,respectively.Recognizing that the hysteresis compensator cannot entirely eliminate such issues and there is noise interference in experimental equipment,predictive control based on a Kalman filter is used to enhance the control accuracy of the piezoelectric micropositioning platform.Mod-el predictive control addresses model uncertainties like inverse compensation errors and modeling errors,while the Kalman filter estimates the state of the system.Experimental results indicate that the relative tracking error of the proposed controller is less than 0.68%for sine wave signals and less than 0.70%for triangular wave signals.By incorporating Kalman filter-based predictive control alongside hysteresis com-pensation,the micropositioning platform effectively achieves high-precision tracking.关键词
预测控制/卡尔曼滤波/压电陶瓷作动器/Hammerstein模型Key words
model predictive control/Kalman filter/piezoelectric actuator/hammerstein model分类
计算机与自动化引用本文复制引用
于树友,谭丽,李建普,冯阳阳,刘冬梅,林宝君,孙绍瑜..压电陶瓷作动器的卡尔曼滤波输出反馈预测控制[J].光学精密工程,2024,32(11):1724-1735,12.基金项目
国家自然科学基金资助项目(No.U1964202) （No.U1964202）
工业物联网与网络化控制教育部重点实验室基金资助项目(No.2019FF01) （No.2019FF01）
吉林省自然科学基金资助项目(No.YDZJ202101ZYTS169) （No.YDZJ202101ZYTS169）
吉林省教育厅科学技术研究项目(No.JJKH20220592KJ) （No.JJKH20220592KJ）
