光学精密工程2024，Vol.32Issue(16)：2504-2512,9.DOI:10.37188/OPE.20243216.2504
压电平台高精度自适应分数阶滑模跟踪控制
High-precision adaptive fractional order sliding mode tracking control for piezoelectric platform
摘要
Abstract
To realize the high-precision command tracking control of the piezoelectric platform,an adap-tive fractional order sliding mode tracking control method was proposed in this paper to address the serious hysteresis problems.At first,the fractional order operator and adaptive law based on the Duhem model were introduced into the design of the sliding mode surface.It increased the degree of freedom variability of the sliding mode surface and achieved the adaptive adjustment of parameters.Next,an uncertainty and disturbance estimation technique was proposed to replace the traditional switching term of the sliding mode controller,which solved the chattering problem of the sliding mode controller and improved its robust-ness.Finally,the experimental results of the command tracking control of the piezoelectric platform show that compared with traditional PID and sliding mode control method,the tracking error of the adaptive frac-tional order sliding mode controller has decreased by more than 80%,and the root mean square tracking er-ror of the piezoelectric platform based on adaptive fractional order sliding mode controller is reduced to 0.41 μm under the reference command signal at 50 Hz.Therefore,the adaptive fractional order sliding mode controller has more superior tracking performance.关键词
压电平台/迟滞非线性/自适应控制/分数阶/滑模控制Key words
piezoelectric platform/hysteresis nonlinear/adaptive control/fractional order/sliding mode control分类
计算机与自动化引用本文复制引用
孙明超,彭佳琦,宋悦铭..压电平台高精度自适应分数阶滑模跟踪控制[J].光学精密工程,2024,32(16):2504-2512,9.基金项目
吉林省与中国科学院科技合作高新技术产业化专项项目(No.2024SYHZ0009) （No.2024SYHZ0009）
