CN107276455B - Piezoelectric motor dead band control system and method based on output feedback Reverse Step Control - Google Patents
Piezoelectric motor dead band control system and method based on output feedback Reverse Step Control Download PDFInfo
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- CN107276455B CN107276455B CN201710518972.3A CN201710518972A CN107276455B CN 107276455 B CN107276455 B CN 107276455B CN 201710518972 A CN201710518972 A CN 201710518972A CN 107276455 B CN107276455 B CN 107276455B
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- 230000003044 adaptive effect Effects 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
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Abstract
The present invention relates to a kind of piezoelectric motor dead band control systems and method based on output feedback Reverse Step Control, the system includes: pedestal and the piezoelectric motor that is provided thereon, piezoelectric motor side output shaft is connect with photoelectric encoder, other side output shaft is connect with flywheel inertia load, the output shaft of flywheel inertia load is connect through shaft coupling with torque sensor, photoelectric encoder, torque sensor signal output end be respectively connected to control system.The control method includes: that one adaptive Backstepping Controller of carrying, the system of entire controller are established on the basis of feeding back calculating, so as to obtain better controlled efficiency in the controls.A kind of piezoelectric motor dead band control system and control method based on output feedback Reverse Step Control proposed by the invention, not only control accuracy is high, but also structure is simple, compact, and using effect is good.
Description
Technical field
The present invention relates to a kind of piezoelectric motor dead band control systems and method based on output feedback Reverse Step Control.
Background technique
There is the detection error for output signal in the design of existing piezoelectric motor servo-control system, this may lead
Cause the evaluated error of control variable.In order to avoid such case, our currently proposed feedback adaptive control programs.This control system
System can effectively promote the controlled efficiency of system, and be further reduced system for probabilistic influence degree.Therefore motor
Position And Velocity control can obtain preferable dynamic characteristic.
Summary of the invention
The purpose of the present invention is to provide it is a kind of based on output feedback Reverse Step Control piezoelectric motor dead band control system and
Method, to overcome defect existing in the prior art.
To achieve the above object, the technical scheme is that a kind of piezoelectric motor based on output feedback Reverse Step Control
Dead band control system, the piezoelectric motor including a pedestal and on pedestal；Piezoelectric motor motor side output shaft with
One photoelectric encoder is connected, and other side output shaft is connected with a flywheel inertia load；The output of the flywheel inertia load
Axis is connected through a shaft coupling with a torque sensor；The signal output end of the photoelectric encoder, the torque sensor
The input terminal of signal output end and the piezoelectric motor is connected with a control system respectively.
In an embodiment of the present invention, the control system includes a piezoelectric motor drive control circuit；The piezoelectric electro
Machine drive control circuit includes a control chip circuit and a driving chip circuit；The signal output end of the photoelectric encoder with
The respective input of the control chip circuit is connected, the output end and the driving chip circuit of the control chip circuit
Respective input be connected, to drive the driving chip circuit；The driving frequency adjustment signal of the driving chip circuit
Output end and driving half-bridge circuit adjustment signal output end are connected with the respective input of the piezoelectric motor respectively.
In an embodiment of the present invention, the shaft coupling is yielding coupling.
In an embodiment of the present invention, the piezoelectric motor, photoelectric encoder, torque sensor are solid through piezoelectric motor respectively
The fixed bracket of fixed rack, photoelectric encoder, the fixed bracket of torque sensor are fixed on the pedestal.
Further, a kind of controlling party of piezoelectric motor dead band control system based on output feedback Reverse Step Control is also provided
Method, the control system is interior to carry a contragradience adaptive controller, and the rotation of rotor is controlled by backstepping control method
Angle, then the rotation angle by calculating rotor indirectly control the speed of motor, and are obtained by Liapunov stability function
The robustness method of feedback control parameters is obtained, to guarantee system stability.
In an embodiment of the present invention, the boundary of the total collection indeterminate of note be it is known that | D (t) |≤ρ, ρ be one it is default just
Constant term carries out SERVO CONTROL to system using feedback control:
Remember that nonlinear system is as follows:
Wherein, YiIt is known continuous linear non-linear distortion, d (t) indicates bounded external disturbance, parameter aiIt is not normal
Number, control gain b are constants, and v is control input, and u (v) indicates dead-time voltage function；
Wherein, br≥0,bl≤ 0 and m > 0 be constant, v is input, and u is output；
U (t)=mv (t)+d1(v(t))
Wherein,
Then d1(v (t)) is bounded；
Note:
Wherein, β=bm andThe influence of d (t) is due to the two external disturbance and bd1(v
(t)), enabling d (t) is distracter, and indicates its boundary using D；
Then:
Wherein,A=[- a1,-a2,…,-ar]T, Y=[Y1, Y2..., Yr]T；
Contragradience self-adaptation control method is as follows:
α1=-c1z1
Parameter updating method is as follows:
Wherein, uncertain parameter b and m makes β > 0；Desired track yr(t) it is known and has with its (n-1) order derivative
Boundary；All signals of closed loop in the loop are all the ultimate boundness of stable and uniform；Tracking error x (t)-yr(t) in the transient state period
Period is adjustable；
limt→∞x(t)-yrOr lim (t)=0t→∞|x(t)-yr(t)|-δ1=0 boundary δ for being arbitrarily designated1=0；
For ci, i=1 ..., n are positive design parameters, and γ and η are two positive design parameters, and Γ is a positive definite matrix,WithIt is the estimation of e=1/ β, a and D, δi(i=1 ..., n) is positive design parameter, q=round { (n-i+2)/2 },
Round { x } indicates the element of x to immediate integer.
Compared to the prior art, the invention has the following advantages: one kind proposed by the invention is based on output feedback
The piezoelectric motor dead band control system and method for Reverse Step Control, using the motor servo system for improving Backstepping Controller, tradition is anti-
Step controller has discontinuous function to participate in control, this may result in flutter.In order to reduce the generation of flutter, present invention uses
Innovatory algorithm effectively promotes the controlled efficiency of system, and is further reduced system for probabilistic influence degree, improves
The accuracy of control, can obtain preferable dynamic characteristic.In addition, device design is rationally, structure is simple, compact, manufacture
It is at low cost, there is very strong practicability and wide application prospect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram in one embodiment of the invention.
Fig. 2 is the control circuit schematic diagram in one embodiment of the invention.
[number explanation]: 1- photoelectric encoder, the fixed bracket of 2- photoelectric encoder, 3- piezoelectric motor output shaft, 4- piezoelectricity
Motor, the fixed bracket of 5- piezoelectric motor, 6- piezoelectric motor output shaft, 7- flywheel inertia load, 8- flywheel inertia load output shaft,
9- yielding coupling, 10- torque sensor, the fixed bracket of 11- torque sensor, 12- pedestal, 13- control chip circuit, 14-
Driving chip circuit, 15,16,17- photoelectric encoder output A, B, Z phase signals line, 18,19,20,21- driving chip circuit
The driving frequency adjustment signal line of generation, 22- driving chip circuit generate driving half-bridge circuit adjustment signal line, 23,24,
25,26, the 27, signal wire for the driving chip circuit that 28- control chip circuit generates, 29- piezoelectric motor drive control circuit.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is specifically described.
The present invention proposes a kind of piezoelectric motor dead band control system based on output feedback Reverse Step Control, as shown in Figure 1, including
Pedestal 12 and the piezoelectric motor 4 on pedestal 12,4 side output shaft 3 of piezoelectric motor is connected with photoelectric encoder 1, another
Side output shaft 6 is connected with flywheel inertia load 7, and the output shaft 8 of flywheel inertia load 7 is through yielding coupling 9 and moment sensing
Device 10 is connected, the input of the signal output end, the signal output end and piezoelectric motor of torque sensor 10 of photoelectric encoder 1
End is respectively connected to control system.
Further, piezoelectric motor 4, photoelectric encoder 1, torque sensor 10 are respectively through piezoelectric motor fixed bracket 5, light
Photoelectric coder is fixed the fixed bracket 11 of bracket 2, torque sensor and is fixed on the pedestal 12.
Further, as shown in Fig. 2, control system includes piezoelectric motor drive control circuit 29, piezoelectric motor driving control
Circuit 29 processed includes control chip circuit 13 and driving chip circuit 14；The signal output end and control chip of photoelectric encoder 1
The respective input of circuit 13 is connected, and controls the respective input phase of the output end and driving chip circuit 14 of chip circuit 13
Connection, to drive driving chip circuit 14, the driving frequency adjustment signal output end and driving half-bridge electricity of driving chip circuit 14
Road adjustment signal output end is connected with the respective input of piezoelectric motor 4 respectively.Driving chip circuit 14 generates driving frequency
Adjustment signal and driving half-bridge circuit adjustment signal carry out frequency, phase and the on-off of piezoelectric motor output A, B two phase PWM
Control.Piezoelectric motor is controlled by opening and turning off the output of PWM wave starts and stops operation；By adjusting output
The phase difference of the frequency of PWM wave and two-phase adjusts the optimal operational condition of motor.
It further, should be a piezoelectric motor contragradience based on the piezoelectric motor dead band control system of output feedback Reverse Step Control
Controller servo-control system, by Backstepping Controller and motor form；It is not expected uncertain in order to avoid occurring in motor
, system is controlled using backstepping control method.
In the present embodiment, the boundary of total collection indeterminate is assumed to be it is known that such as | D (t) |≤ρ, ρ are one given
It is normal several.In order to avoid occurring not expected indeterminate in motor, SERVO CONTROL is carried out to system using feedback control.
Nonlinear system with zone of ignorance is generally denoted as:
Wherein, YiIt is known continuous linear non-linear distortion, d (t) indicates bounded external disturbance, parameter aiIt is unknown
Constant and control gain b are unknown constants, and v is control input, and u (v) indicates dead-time voltage function；
Wherein, br≥0,bl≤ 0 and m > 0 be constant, v is input, and u is output.
U (t)=mv (t)+d1(v(t)) (2.3)
Wherein,
Obviously, d1(v (t)) is bounded.
Structure (2.3) from model (2.2), (2.1) become
Wherein, β=bm andThe influence of d (t) is due to the two external disturbance and bd1(v
(t)).D (t) referred to as " is interfered " the simple expression of item and indicates its boundary using D by we.
Further, formula (2.5) are rewritten in following form:
Wherein,A=[- a1,-a2,…,-ar]TWith Y=[Y1, Y2..., Yr]T。
Further, in order to formulate control law, make it is assumed hereinafter that.
Assuming that 1. uncertain parameter b and m make β > 0.
Assuming that 2. desired track yr(t) and its (n-1) order derivative is known and bounded.
In the present embodiment, control target is design of feedback adaptive control law:
All signals of closed loop in the loop are all the ultimate boundness of stable and uniform；
Tracking error x (t)-yrIt (t) is adjustable during the transient state period.
In the present embodiment, by clearly selecting design parameter and limt→∞x(t)-yrOr lim (t)=0t→∞|x(t)-yr
(t)|-δ1=0 boundary δ for being arbitrarily designated1=0.
In the present embodiment, c in table 2.1i, i=1 ..., n are positive design parameters, and γ and η are two positive design parameters, Γ
It is a positive definite matrix,WithIt is the estimation of e=1/ β, a and D, δi(i=1 ..., n) is positive design parameter, q=
Round { (n-i+2)/2 }, round { x } indicate the element of x to immediate integer.
In the present embodiment, adaptive control laws are as follows:
α1=-c1z1 (2.7)
In the present embodiment, parameter updating method is as follows:
Further, the rotation angle of rotor is controlled using Reverse Step Control algorithm by contragradience adaptive controller
Degree, then the rotation angle by calculating rotor indirectly control the speed of motor.It is fed back by liapunov's theorem of stability
The robustness learning rule of control parameter.Feedback adaptive estimates the output item of control system by using, and uses Liapunov
Function ensures the stability of designed control system.
In the present embodiment, the hardware circuit of control system includes piezoelectric motor drive control circuit, piezoelectric motor driving
Control circuit includes control chip circuit and driving chip circuit, and contragradience adaptive controller is equipped in control chip circuit.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made
When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.
Claims (4)
1. it is a kind of based on output feedback Reverse Step Control piezoelectric motor dead band control system, including a pedestal and be set to pedestal on
Piezoelectric motor；Piezoelectric motor side output shaft is connected with a photoelectric encoder, and other side output shaft and a flywheel are used
Property load be connected；The output shaft of the flywheel inertia load is connected through a shaft coupling with a torque sensor；The photoelectricity
The input terminal of the signal output end of encoder, the signal output end of the torque sensor and the piezoelectric motor is respectively with one
Control system is connected；A contragradience adaptive controller is carried in the control system, and motor is controlled by backstepping control method
The rotation angle of rotor, then the rotation angle by calculating rotor indirectly control the speed of motor, and steady by Liapunov
Qualitative function obtains the robustness method of feedback control parameters, to guarantee system stability, which is characterized in that the total collection of note is uncertain
Boundary be it is known that | D (t) |≤ρ, ρ are one default normal several, carry out SERVO CONTROL to system using feedback control:
Remember that nonlinear system is as follows:
Wherein, YiIt is known continuous linear or non-linear distortion, d (t) indicates bounded external disturbance, parameter aiIt is unknown
Constant, control gain b are constants, and v is control input, and u (v) indicates dead-time voltage function；
Wherein, br≥0,bl≤ 0 and m > 0 be constant, v is input, and u is output；
U (t)=mv (t)+d1(v(t))
Wherein,
Then d1(v (t)) is bounded；
Note:
Wherein, β=bm andThe influence of d (t) is due to the two external disturbance and bd1(v (t)), enables d
(t) it is distracter, and indicates its boundary using D；
Then:
Wherein,A=[- a1,-a2,…,-ar]T, Y=[Y1, Y2, L, Yr]T；X indicates position letter
Number；
Contragradience self-adaptation control method is as follows:
α1=-c1z1
Parameter updating method is as follows:
Wherein, uncertain parameter b and m makes β > 0；Desired track yr(t) and its (n-1) order derivative is known and bounded；It closes
All signals of ring in the loop are all the ultimate boundness of stable and uniform；Tracking error x (t)-yr(t) it is during the transient state period
It is adjustable；The position signal of x (t) expression t moment；
limt→∞x(t)-yrOr lim (t)=0t→∞|x(t)-yr(t)|-δ1=0 boundary δ for being arbitrarily designated1=0；
For ci, i=1, L, n, ciIt is positive design parameter, γ and η are two positive design parameters, and Γ is a positive definite matrix,WithIt is the estimation of e=1/ β, a and D, δi(i=1, L, n) is positive design parameter, q=round { (n-i+2)/2 },
Round { x } indicates the element of x to immediate integer.
2. the piezoelectric motor dead band control system according to claim 1 based on output feedback Reverse Step Control, feature exist
In the control system includes a piezoelectric motor drive control circuit；The piezoelectric motor drive control circuit includes a control
Chip circuit and a driving chip circuit；The signal output end of the photoelectric encoder is corresponding defeated to the control chip circuit
Enter end to be connected, the output end of the control chip circuit is connected with the respective input of the driving chip circuit, to drive
Move the driving chip circuit；The driving frequency adjustment signal output end and driving half-bridge circuit of the driving chip circuit are adjusted
Signal output end is connected with the respective input of the piezoelectric motor respectively.
3. the piezoelectric motor dead band control system according to claim 1 based on output feedback Reverse Step Control, feature exist
In the shaft coupling is yielding coupling.
4. the piezoelectric motor dead band control system according to claim 1 based on output feedback Reverse Step Control, feature exist
In the piezoelectric motor, photoelectric encoder, torque sensor are respectively through the fixed bracket of piezoelectric motor, the fixed branch of photoelectric encoder
The fixed bracket of frame, torque sensor is fixed on the pedestal.
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