压电微夹钳的复合控制模型及实验

doi:10.13973/j.cnki.robot.2015.0257

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引用本文:
郑军辉, 崔玉国, 娄军强, 薛飞. 压电微夹钳的复合控制模型及实验[J]. 机器人, 2015, 37(3): 257-263.DOI: 10.13973/j.cnki.robot.2015.0257. ZHENG Junhui, CUI Yuguo, LOU Junqiang, XUE Fei. Model and Experiments for Compound Control of a Piezoelectric Micro-gripper. ROBOT, 2015, 37(3): 257-263. DOI: 10.13973/j.cnki.robot.2015.0257.

摘要

为提高压电微夹钳的夹持性能，设计复合控制系统对其控制.通过引入死区算子对 PI 模型进行改进，建立了微夹钳的迟滞模型，进而设计出其前馈控制器；对常规 PID 算法进行改进，设计出抛物线积分与微分先行的微夹钳 PID 反馈控制器；将前馈控制同 PID 反馈控制相结合，设计出微夹钳的复合控制器.在复合控制作用下，微夹钳达到 5um 阶跃目标位移的响应时间为 0.09s，略快于前馈控制，明显快于 PID 反馈控制；在最大位移为 15.2um 的参考输入作用下，若不考虑传感器噪声，复合控制的稳态误差几乎为 0.实验结果表明，同前馈控制与 PID 反馈控制相比，复合控制具有良好的综合控制效果，即响应速度快、稳态精度高.

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关键词 ：压电微夹钳, 迟滞模型, 前馈控制, PID 反馈控制, 复合控制

Abstract：

To improve the gripping performance of a piezoelectric micro-gripper, a compound control system is designed. The hysteresis model of the piezoelectric micro-gripper is presented through improving the PI (proportional-integral) model by using the dead zone operator, and the feedforward controller based on the hysteresis model is designed. Then a PID (proportional-integral-derivative) feedback controller with a parabola integral and differential forward is designed by improving the conventional PID control algorithm. Finally, a compound controller is proposed, which consists of the feedforward controller and the modified PID feedback controller. Under the compound control, the response time of the micro-gripper descends to 0.09s for a desired step signal of 5um, which is a little faster than the feedforward control, and significantly faster than the PID feedback control. Under the input of a maximum displacement of 15.2um, the steady-state error of compound control is almost zero if excluding the sensor noise. Experimental results indicate that the proposed compound control possesses better performance comparing with the feedforward control and the PID feedback control, such as faster response speed and higher steady-state accuracy.

Key words： piezoelectric micro-gripper hysteresis model feedforward control PID feedback control compound control

收稿日期: 2014-09-21 录用日期: 2015-03-08

TH39

基金资助:

国家自然科学基金资助项目(51175271);教育部留学回国人员科研启动基金资助项目;浙江省高等学校中青年学科带头人学术攀登项目(Pd2013091)

通讯作者: 崔玉国,cuiyuguo@nbu.edu.cn E-mail: cuiyuguo@nbu.edu.cn

作者简介: 郑军辉(1989--),男,硕士生.研究领域:微/纳米定位技术.
崔玉国(1971--),男,博士,教授.研究领域:微/纳米定位技术,精密测试技术.
娄军强(1986--),男,博士,讲师.研究领域:振动控制,智能材料应用.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.0257 或 https://robot.sia.cn/CN/Y2015/V37/I3/257

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