LuGre Model Based Hysteresis Compensation of a Piezo-Actuated Mechanism

被引：3

作者：

Wang, Guangwei ^{[1
]}

Xu, Qingsong ^{[1
]}

机构：

[1] Univ Macau, Fac Sci & Technol, Dept Elect Engn, Ave Univ, Taipa, Macau, Peoples R China

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 14 | 2017年 / 531卷

基金：

中国国家自然科学基金;

关键词：

Piezoelectric actuators; Hysteresis model; LuGre model; Micropositioning; Precision motion control; PIEZOELECTRIC ACTUATORS;

D O I：

10.1007/978-3-319-48036-7_47

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a combined feedforward plus feedback control approach to compensate the hysteresis effect, which degrades the positioning accuracy of piezo-actuated mechanism. The LuGre friction model is extended to represent the nonlinear dynamics of the piezo-actuated positioning mechanism, and then the unknown model parameters are identified with the particle swarm optimization (PSO). Based on the developed mathematical model, the inverse LuGre model based feedforward plus feedback control is designed for the motion tracking control. Experimental results show that the LuGre model based hybrid control approach achieves a satisfactory position tracking performance. Owing to a simple structure, the proposed control approach can be implemented in other types of hysteretic systems.

引用

页码：645 / 657

页数：13

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