Generalized Duhem Hysteresis Modeling And Control Study Of Piezoelectric Ceramic Actuators

Piezoelectric ceramic actuators are characterised by high accuracy,low noise,fast response and high driving force,and are widely used in aerospace,semiconductor,image processing,data storage and biotechnology and life sciences.In practice,however,the rate-dependent dynamic characteristics under the influence of the input voltage have a serious impact on the control accuracy and may even cause the control system to oscillate.Therefore,the study of high-precision hysteresis modelling and precision micro-displacement tracking control methods is of great significance and value in characterising hysteresis non-linearity.This paper aims to investigate the modelling and control of hysteretic nonlinear systems using piezoelectric ceramic actuators in the following areas:Firstly,aiming at the rate dependent dynamic characteristics of piezoceramic ceramic actuator,a generalised Duhem hysteresis non-linear model is proposed,and the parameters of the generalised Duhem model are identified using a differential evolution(DE)algorithm.Experimental data on piezoelectric ceramic actuators under different single and compound frequency excitations were collected using the d SPACE experimental platform,and the proposed generalised Duhem model was model tested.By comparison with the traditional Duhem model,it is shown that the proposed model is able to more accurately describe the hysteresis non-linearities present in piezoelectric ceramic actuators.Secondly,based on the established generalised Duhem model,a composite tracking control method for piezoelectric ceramic actuators is proposed.The inverse model of the generalised Duhem model is constructed and used as a feed-forward hysteresis compensator,and the PID feedback tracking control method with feed-forward inverse compensation is used for dynamic tracking control of the piezoelectric ceramic actuator.The piezoelectric real-time tracking control system of the d SPACE platform was built,and tracking control experiments were carried out on single frequency and compound frequency expected displacement signals.The results show that the tracking control method is simple in structure and easy to implement,and the tracking control effect is good,and the tracking relative error is less than10%,which can meet the engineering requirements.Finally,to address the problem that conventional PID control cannot adjust PID parameters in real time,a fuzzy PID tracking control method for piezoelectric ceramic actuators is proposed.The generalised Duhem inverse model is used as a feed-forward controller for fuzzy PID feedback control,which adaptively adjusts the PID control parameters through fuzzy control to improve the control performance of the system.On the d SPACE control experiment platform,tracking control experiments were carried out on single and compound frequency desired signals,verifying that the control method can achieve dynamic tracking control of piezoelectric ceramic actuators,while greatly improving the control effect.