Research On Compensation Method Of Hysteresis Characteristic Of Inchworm Motor Based On Improved Artificial Bee Colony Algorithm

With the continuous development of nanotechnology,researchers turn their attention to nanoscale precision positioning technology.Inchworm motor is widely used in precision positioning situations due to its high accurancy,which can achieve large stroke positioning by means of stepping.The main research work of this paper is as follows:Firstly,the main driving element of the inchworm motor is introduced,and the inherent hysteresis nonlinear characteristics of piezoelectric ceramics cause the positioning error of the inchworm motor.In order to improve the positioning accuracy,the nonlinear characteristics need to be a ccurately described first.This paper focuses on the hysteresis characteristics of the generalized controlled object of the inchworm motor.The DUHEM model is chosen,and the hysteresis characteristics can be accurately described by adjusting of the model parameters.Secondly,the DUHEM model parameter identification problem is transformed into an optimization problem,and an improved artificial swarm algorithm is creatively proposed: the swarm is initialized by segments;the traditional single-dimension update is transformed into a probabilistic multi-dimension update;and the traditional artificial swarm algorithm is combined with the update method of particle swarm algorithm,and the global optimum and individual optimum are introduced as the guidance for the later update of the swarm to improve the optimization finding ability of the algorithm.Finally,the hysteresis inverse model structure is used as feedforw ard compensation to achieve the linearization of the input voltage and output displacement of the inchworm motor as much as possible.Based on the actual input and output data,the parameters of the DUHEM model,and the obtained parameters are directly applied to the derivation of the DUHEM analytical inverse model.A test platform is built to verify the accuracy of the identified DUHEM model in fitting the hysteresis characteristics of the rea l inchworm motor in generalized controlled objects.The DUHEM in verse model structure is incorporated into the upper computer control program for feedforward compensation,and four different ways of exc itation are used to analyze the repetitive positioning accuracy of the inchworm motor positioning platform before and after compensation at the same target position.