基于Prandtl-Ishlinskii模型的超磁致伸缩驱动器实时磁滞补偿控制

摘要

针对超磁致伸缩驱动器(GMA)存在复杂的磁滞非线性易降低系统性能,导致系统不稳定的问题,建立了可以精确描述磁滞现象的模型并提出了合适的驱动控制方法.首先,基于Prandtl-Ishlinskii(PI)模型对GMA磁滞建模,并采用最小均方法(LMS)进行模型参数辨识,模型预测误差为0.0379 μm.接着,通过对PI模型解析求逆进行实时补偿控制,从而有效减小磁滞误差,补偿控制误差为0.309 μm.实验结果证明,PI模型可以精确描述GMA磁滞现象,且具有计算简单,磁滞跟踪能力强的优点.基于该模型的实时磁滞补偿控制方法可以有效减小磁滞误差,提高GMA实时驱动定位控制精度,是实现GMA精密驱动控制的一种有效方法.%Giant Magnetostrictive Actuator(GMA) has complex hysteretic nonlinearities, which can degrade system performance and cause system instability. To solve the problem, this paper establishes a model to accurately describe hysteretic phenomenon and propose a proper method to improve real-time control accuracy. Firstly, Prandtl-Ishlinskii(PI) operator is proposed in this paper to model the hysteresis of GMA and Least Mean Square(LMS) algorithm is used identify the parameter of this model, by which the prediction error reaches up to 0. 037 9 μm. Then, an inverse model is established based on the PI model for real-time compensation control of the hysteresis, and the inverse control error reaches up to 0. 309 μm. The experimental results demonstrate that PI operator can accurately characterize the GMA hysteresis, and the model has advantages of simple calculation and strong hysteretic tracking ability. The real-time compensation control of hysteresis can effectively reduce hyster-etic errors and improve real-time control accuracy.It is aeffective way to achieve precision driving control of GMAs.rnu0000p