Self-sensing High Speed Controller for Piezoelectric Actuator
Self-sensing High Speed Controller for Piezoelectric Actuator
复制标题
DOI：
10.1177/1045389x07083603
复制
发表时间：
2008-03
影响因子：
2.7
通讯作者：
A. Badel;Jinhao Qiu;G. Sebald;D. Guyomar
中科院分区：
文献类型：
--
作者：
A. Badel;Jinhao Qiu;G. Sebald;D. Guyomar
提出了一种有效的压电驱动器高速定位控制方案。该方法基于前馈分支和比例积分导数（PID）反馈控制器的结合。前馈支路由执行器的逆模型组成，该模型包括滞后补偿、逆机械传递函数和电损耗补偿。为了避免使用体积庞大且价格昂贵的位移传感器，建立了一种检测模型来计算压电致动器的位移作为电流的函数。该方法与常规PID反馈控制方案进行了比较，并与使用传感器的前馈/反馈控制器进行了比较。对作动器进行了2ms脉冲激励实验。结果表明，该方法可以将前馈优点（快速性和迟滞补偿）和反馈优点（静态误差和蠕变抵消）结合起来。此外，该检测模型可以巧妙地避免使用任何机械传感器。
This study proposes an effective scheme for high speed positioning control of a piezoelectric actuator. The proposed approach is based on the combination of a feedforward branch and a proportional integral derivative (PID) feedback controller. The feedforward branch consists of an inverse model of the actuator that includes hysteresis compensation, inverse mechanical transfer function, and electrical losses compensation. In order to avoid using a bulky and costly displacement sensor, a detection model has been developed to compute the displacement of the piezoelectric actuator as a function of the current. This approach has been compared with a regular PID feedback control scheme, and with a feedforward/feedback controller using a sensor. Experiments have been carried out for a 2ms pulse excitation of the actuator. It is shown that the proposed approach allows to combine feedforward advantages (quickness and hysteresis compensation) and feedback advantages (static error and creep cancellation). Moreover, it is shown that the detection model allows to smartly avoid using any mechanical sensor.