压电作动器的多目标互补鲁棒控制方法研究OA

To address the challenge of achieving high-precision tracking control for piezoelectric actuators(PEAs)in the presence of model uncertainty,external interference,and measurement noise,a novel multi-objective complementary robust control method is proposed in this paper.First,a rate-dependent hysteresis nonlinear model,structured upon the Hammer-stein model,is formulated.This model represents the static hysteresis nonlinear component using the Prandtl-Ishlinskii(PI)model,while the dynamic linear component is characterized by an enhanced correlation identification method.Then,a multi-objective complementary robust control method is employed to achieve the precise tracking control of the piezo-electric actuator.This approach integrates PID control principles to optimize the closed-loop system's performance,in-corporates robust control strategies to ensure the stability of the closed-loop system,and utilizes Youla parameterization to address the conflict between the system's optimal performance and robustness.Finally,the system's tracking accuracy and anti-interference capabilities are verified through experiments,providing empirical evidence for the effectiveness of the proposed methodology in this paper.