Control Design for Nonlinear Smart Actuators

本研究的重点是分析和设计的非线性致动器，利用智能材料传感器组成的压电，电致伸缩或磁致伸缩材料。 这些传感器已被证明在许多工业，汽车，国防，航空航天和航空应用中非常有效，因为它们具有传感和驱动的双重能力，产生的力的大小及其宽带性质。 然而，在高驱动水平下，所有这些材料都表现出本构非线性和不同程度的滞后。 本研究的目标是开发数学模型和控制算法，结合驱动电子设备，补偿这些材料固有的非线性。 建模组件中的策略侧重于利用能量机制来开发适用于每种智能材料化合物的统一模型。 然后，基于这些模型的逆补偿器将与反馈、前馈、自适应和鲁棒控制律相结合，以提供实现线性换能器动态所需的控制算法。 这项调查将推进智能材料控制系统的状态，并通过促进具有非线性组成智能材料的全行程和力的能力，但在整个驱动范围内表现出线性行为的致动器的构造，扩展目前可用的致动器的高性能应用的能力。

This investigation focuses on the analysis and design of nonlinear actuators which utilize smart material transducers comprised of piezoelectric, electrostrictive or magnetostrictive materials. These transducers have proven highly effective in a number of industrial, automotive, defense, aerospace and aeronautical applications due to their dual capability for sensing and actuating, the magnitude of generated forces, and their broadband nature. At high drive levels, however, all of these materials exhibit constitutive nonlinearities and varying degrees of hysteresis. The goal in this investigation is to develop mathematical models and control algorithms which, in conjunction with drive electronics, compensate for the nonlinearities inherent to these materials. The strategy in the modeling component focuses on utilizing energy mechanisms to develop unified models that are appropriate for each of the smart material compounds. Inverse compensators based on these models will then be combined with feedback, feedforward, adaptive and robust control laws to provide the control algorithms necessary to achieve linear transducer dynamics. This investigation will advance the state of smart material control systems and extend the capabilities of currently available actuators for high performance applications by facilitating the construction of actuators which have the full stroke and force capabilities of the nonlinear constituent smart materials but exhibit linear behavior throughout their drive range.