(節(jié)選）外文翻譯--對壓電執(zhí)行器的有效跟蹤控制(譯文)

1、Clemson University College of Engineering and Science Control and Robotics (CRB) Technical Report Number: CU/CRB/9/14/06/#1 Title: Robust Tracking Control for a Piezoelectric Actuator Authors: M. Salah, M. McIntyre, D

2、. Dawson, and J. Wagner position sensor.Other research in the literature has focused on the de- velopment of intelligent control schemes for the preci- sion control of PZTA’s. Some of these designs were based on the inve

3、rse hysteresis model that is assumed to be known a priori, so feedforward techniques can be utilized in the control design ([2] and [18]). Others, such as [4], [6], [13] and [14], applied a feedback lin- earization to co

4、mpensate for the hysteresis dynamics and then a tracking controller was implemented. Wu and Zou in [28] presented an inversion-based iterative control approach to compensate for both the hysteresis and the vibrational dy

5、namics variations during high- speed, large range tracking. Neural networks and fuzzy controls were also utilized to model the PZTA hystere- sis nonlinearities and control the micro motion of the PZTA ([14] and [27]). In

6、 [19], the authors proposed a robust control strategy for precise positioning track- ing. The implementation of their control law requires only a knowledge of the estimated system parameters and their corresponding bound

7、s as well as the bound of the hysteresis effect including disturbances. In [25], Stepanenko et al. introduced and implemented an ap- proximation function to compensate for the hysteresis nonlinearities by fuzzy logic tec

8、hniques.In this paper, the displacement of a PZTA is actively controlled to track a desired trajectory. A nonlinear robust control strategy is developed based on the feed- back of the PZTA charge, and partial knowledge o

9、f the hysteresis model. Charge steering approach eliminates the effect of the hysteresis in the PZTA and provides better robust control over the voltage steering approach [1]. The charge measurement is obtained by measur

10、ing the voltage across a capacitor that is added in-series to the PZTA circuit. A Lyapunov-based analysis, which proves precise tracking, is utilized to develop the con- trol strategy. Simulation results are presented wh

11、ich demonstrates the proof of concept of the active con- trol approach. This paper is organized as follows. In Section 2, a Coleman-Hodgdon-based hysteresis model along with the piezoelectric actuator dynamics are pre- s

12、ented as well as the required assumptions for the sys- tem. In Section 3, a nonlinear robust control scheme is developed along with the stability analysis which veri- fies that the piezoelectric desired displacement can

13、be tracked. In Section 4, simulation results are presented for the robust control strategy. Finally, concluding re- marks are provided in Section 5.2 PZTA System Model2.1 PZTA Elongation Dynamics A PZTA with a single elo

14、ngation axis, depicted in Fig- ure 1, can be dynamically modeled asm¨ y + FL = Fp (1)where m ∈ R denotes the PZTA mass, L ∈ R de- notes the non-activated length of the PZTA, Fp (t) ∈ R denotes the force generated by

15、 the PZTA elongation, FL (y, ˙ y) ∈ R denotes the perpendicular forces acting on the PZTA, y (t) , ˙ y (t) , ¨ y (t) ∈ R are the displace- ment, velocity, and acceleration, respectively, of the PZTA effective tip of

16、 elongation. An equivalent cir- cuit model of the PZTA can be described as shown in Figure 2.PZTA massPZTA massFpFpL L+ y ActivationFLFLFp FLFp FL L - Initial Length y - Elongationwhen applyvoltageFigure 1: PZTA elongati

17、on induced by applied voltagec q ?p q ?HTem CcVV cV h++---q ?+C m V m+-Figure 2: PZTA equivalent circuit modelIn this schematic, V (t) ∈ R denotes the applied in- put control voltage, ˙ q (t) ∈ R represents the current f