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由于压电驱动器具有迟滞、蠕变等非线性特征,在精密定位中存在较大的位移跟踪误差。本文对此提出了一种逆补偿和迭代学习控制算法相结合的控制方法。利用逆补偿器作为前馈,使压电陶瓷驱动器的位移跟踪误差得到一定的补偿,再利用迭代学习控制方法进行反馈,进一步减小压电驱动器的位移跟踪误差。仿真实验结果表明,该方法具有良好的控制效果,能够将驱动器的输出位移误差由37.26%减小到0.51%以内。
Due to the non-linear characteristics of piezoelectric actuators such as hysteresis and creep, there is a large displacement tracking error in precise positioning. In this paper, a control method combining inverse compensation and iterative learning control algorithm is proposed. Using the inverse compensator as the feedforward, the displacement tracking error of the piezoceramic actuator is compensated to a certain extent, and then the iterative learning control method is used to feed back to further reduce the displacement tracking error of the piezoelectric actuator. Simulation results show that this method has a good control effect, and can reduce the output displacement error of the driver from 37.26% to 0.51%.