Modeling And Control Of Piezoelectric Actuator Based On Active Disturbance Rejection Control

Actuators made of mart materials,such as piezoelectric ceramics,feature fast response and high resolution.Such actuators are used in industry,such as precision adjustment of ultra-precision positioning,atomic force microscopes,and aerospace aircraft wings.However,most smart materials have hysteresis nonlinear in the relationship between input and output.Actuators made of piezoelectric ceramic materials have a hysteresis nonlinear relationship between voltage and displacement.This thesis studies modeling and tracking control of piezoelectric ceramic actuator.The first part learns and operates experimental related equipment,and studied the related materials of the piezoelectric ceramic actuators.Through the dSPACE experimental platform,some raw data of the actuators were collected,through reading and learning a large number of related literature and through some simulation studies.A comprehensive understanding of the hysteresis nonlinear of smart materials and smart structures,and the implementation of the Hammerstein model of piezoelectric ceramic actuators,as well as the train of thought and steps for tracking control.The second part of this thesis devotes to the controller design.Firstly,a PID controller is applied,but the performance is relatively poor.This is because the system is highly nonlinear and the system dynamics depends on the frequency of the input signal.Through the analysis of the structure of the controlled system,active disturbance rejection control(ADRC)scheme is finally introduced.This control technique does not need to know the mathematical model of the system.Finally,to take advantage of the partially known system dynamics,feed forward control loop is introduced to compensate the system dynamics,and the unknown model and disturbances are handled by active disturbance rejection control in the feedback loop.The third part of this thesis uses adaptive control technology to ease the parameter setting of the ADRC controller and thus enhances the flexibility of the controller.The structure of linear ADRC control,the state error feedback adopts PD control structure.Therefore,the structure of the feedback part of the state error in this paper is a single neuronadaptive structure.