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超磁致伸缩作动器的率相关迟滞非线性成为其在工程应用中的一大阻碍因素.通过使用特殊建模激励信号,基于最小二乘支持向量机建立了一定频率范围内的统一率相关Hammerstein-like迟滞非线性模型,该模型能够保证其建模频率范围内单频和复合频率的模型泛化性.在此模型基础上,设计了前馈逆补偿与PID(Proportional-Integral-Derivative)反馈控制相结合的复合控制策略,针对一定频率范围内的所有单频和复合频率的输入信号,该控制器都能够保证其跟踪控制效果,最后通过实验实时跟踪控制结果进一步验证了所设计控制器的有效性.
The rate-dependent hysteresis nonlinearity of giant magnetostrictive actuators has become a major hindrance factor in engineering application.Using a special modeling excitation signal, a uniform correlation within a certain frequency range is established based on least squares support vector machines Hammerstein-like hysteresis nonlinear model, which can guarantee the model generalization of single frequency and composite frequency in the modeling frequency range.Based on this model, the design of feedforward inverse compensation and PID (Proportional-Integral-Derivative) Feedback control combined with the composite control strategy for a certain frequency range of all single-frequency and composite frequency of the input signal, the controller can guarantee its tracking control effect, and finally real-time control experiments by experiments to further verify the design of the controller Effectiveness.