压电陶瓷驱动器的滑模观测器反演控制

针对压电陶瓷驱动器中固有的迟滞非线性问题,设计基于滑模状态观测器的反演控制器对其进行输出跟踪控制。首先对压电陶瓷驱动的系统模型进行分析,将迟滞非线性部分视为有界干扰;在此基础上设计滑模状态观测器,对压电陶瓷驱动器的速度状态进行估计,整个系统仅需要测量输出位置信息。对采用滑模状态观测器的系统进行反演控制器设计,最后通过Lyapunov稳定性理论证明了闭环系统是稳定的,系统中的所有信号是一致最终有界的。仿真结果表明了方法的有效性。

Backtepping Control of Piezoelectric Ceramic Actuator Using Sliding-mode Observer

For piezoelectric ceramic actuator with inherent hysteresis nonlinear, an output tracking control scheme using backstepping control on sliding-mode observer is designed. First of all, the analysis of piezoelectric ceramic actuator system model is conducted, hysteresis is considered as a generalized disturbance. Then sliding mode observer is designed to observe speed variable. The system only needs the measurement of output position information. The backstepping controller is dedigned for the system using sliding mode observer. Finally, it is proved that the closed-loop system is stable using Lyapunov stability theory. All the signals in the system are uniformly ultimately bounded. Simulation results show the effectiveness of the method.