WO2016050378A1 - Procédé de commande d'un entraînement linéaire et groupe d'entraînement linéaire - Google Patents

Procédé de commande d'un entraînement linéaire et groupe d'entraînement linéaire Download PDF

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Publication number
WO2016050378A1
WO2016050378A1 PCT/EP2015/066450 EP2015066450W WO2016050378A1 WO 2016050378 A1 WO2016050378 A1 WO 2016050378A1 EP 2015066450 W EP2015066450 W EP 2015066450W WO 2016050378 A1 WO2016050378 A1 WO 2016050378A1
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WO
WIPO (PCT)
Prior art keywords
linear drive
relationship
hysteresis
model
control variable
Prior art date
Application number
PCT/EP2015/066450
Other languages
German (de)
English (en)
Inventor
Christian Bachmann
Matthias Gerlich
Randolf Mock
Iason Vittorias
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2016050378A1 publication Critical patent/WO2016050378A1/fr

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Classifications

    • 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
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis

Definitions

  • the invention relates to a method for controlling a linear drive and a linear drive unit.
  • Linear drives in particular for modern actuator concepts, often do not offer the dynamic response behavior required in modern application areas, in particular robotics and man-machine interaction and force control.
  • the reason for this circumstance is to be ⁇ establishes that the linear drives have regularly mechanical guides, which - depending on the operating conditions (in particular temperature, lubrication, etc.) - a substantial influence of friction subject. Consequently, in the case of linear drives, the relationship between a response variable, in particular a force of the linear drive, and a control variable, in particular a control current, is not linear.
  • control variable and relaxationgrö ⁇ SSE is afflicted with a hysteresis so that in particular the relationship between control variable and response size for a growing control quantity and for a decreasing control amount is different. Consequently, the relationship between control quantity and response size forms a hysteresis loop.
  • Re ⁇ gel dips the extent of hysteresis depends on the size of the control variable. The non-linearities resulting from the hysteresis often result in a deteriorated dynamic response of the linear drive.
  • a model for the relationship with at least one ganzra ⁇ tional function is used.
  • HyS- terese is, at least in part, compen Siert ⁇ by means of this model.
  • a model is used for the connection with at least one completely rational function, the hysteresis can be effectively and easily compensate even in highly dynamic applications:
  • completely rational functions preferably of at most second, third or fourth order, in particular easily be inverted (ie it can easily be formed the inverse function).
  • a sol che inversion is only associated with low numerical costs, which does not require large hardware cost far Be ⁇ calculation time. Consequently, the model with at least one completely rational function can be used to determine in a timely manner how the control variable must be set in order to obtain a desired response variable.
  • a hysteresis compensation can effectively perform consequently.
  • hysteresis models previously discussed in the literature such as Preisach hysteresis models on the one hand prove to be so complex that inversion requires long computation times, which are often far too long for highly dynamic applications.
  • a compensation that avoids such long computation times disadvantageously requires a significantly higher ren hardware expenditure.
  • these complex models often do not fit to the observed in practice hysteresis ⁇ se of linear drives. According to the invention, however, the model with the completely rational function can be flexibly adapted to the hysteresis occurring in the respective application.
  • control variable is a current or a voltage or a quantity derived from the current and / or the voltage.
  • response size is one
  • the model models the relationship with piecewise quite ratio ⁇ tional functions in the novel Ver ⁇ go.
  • the complexity of the individual completely rational functions can advantageously be kept low.
  • the model comprises at least one first completely rational function, which models the relationship within a first value interval of the control variable in the case of a time-increasing control variable.
  • this mapping for a time of rising ⁇ control variable values within a first interval can be easily modeled with a sufficiently simple rational integral function.
  • the model comprises at least a second polynomial which models the connection within a second interval of values of the control parameter for the case of a time decreasing the control variable.
  • modeling with a sufficiently simple ganzratio ⁇ cal function is possible.
  • the two aforementioned developments are used at the same time, in particular, a first and second value range overlap or coincide with each other. In this way a substantial part of the context can be described sufficiently simply by means of completely rational functions.
  • first and second completely rational functions completely model the relationship. In this way, the hysteresis can be easily compensated in every conceivable operating state.
  • the linear drive unit comprises a linear drive, in which a relationship of a control variable and a response variable is associated with a hysteresis.
  • ⁇ that includes the linear drive unit a
  • Hysteresis compensation device designed and arranged to carry out a method as described above.
  • the Hysteresekompensationsvorraum is set up such that the control variable is so passed, along with a compensation quantity to the linear drive that cooperatively control ⁇ size associated with the compensation quantity linearly with the response size.
  • the control variable is first detected by the Hysteresekompensationsvoroplasty and is first determined by that under the assumption of a linear relationship, which answer size would follow.
  • Hysteresekompensationsvortechnische for the area of interest of the actual relationship between the control variable and the response size by means of the model with the fully rational function determines which response size would actually result due to the control ⁇ size, including the actually existing hysteresis.
  • the control variable supplemented ⁇ to have to By means of the th region inverted relationship is then determined by which additional contribution, the control variable supplemented ⁇ to have to, so that the response size would occur due to presents under ⁇ linear relationship.
  • This additional contribution which with regard to the sign matches or may differ from the control variable, now forms a compensation variable which is added to the control variable. If control variable and compensation variable are now transferred together to the linear drive, the result is a linear relationship between response variable and control variable.
  • Hysteresis loop H is modeled with a completely rational function, in the illustrated exemplary embodiment a polynomial function of the fourth degree (in further embodiments not specifically shown, lower part U and upper part 0 of the hysteresis loop are modeled with polynomial functions of the second, third or fifth or higher degree; in another, not specifically illustrated, embodiments, a relationship between a control voltage and a
  • control current is transmitted to a linear drive unit L according to the invention, in which a control unit S detects the respectively currently detected value of the control current I and a
  • Hysteresis compensation device K transmitted.
  • the hysteresis compensation device it is now determined which force of the piezohydraulic actuator would follow, assuming a relationship between control current I and force F (in fact not given). Then, the hysteresis compensation device K determines by means of the model of the relationship with the polynomial function, which
  • Hysteresekompensationsvortechnischmaschinen K determines to which additional compensation current IK the control current would have to be supplemented so that the force F actually a represents what would occur to ⁇ sammenhangs due to an assumed linear.
  • the control unit S now passes the control current I to the piezo-hydraulic actuator A.
  • the piezohydraulic actuator A is additionally fed to the input side of the compensation current IK.
  • Piezo-hydraulic actuator A Piezo-hydraulic actuator A.
  • Hysteresis loops H2, H3 and H4 which basically starting from the model of the largest hysteresis loop H
  • the hysteresis loop are previously used H of ⁇ means of the piezo-hydraulic actuator A for both parts 0, U of the hysteresis loop H measured accurately under operating conditions and the measurement results obtained for the modeling of the hysteresis loop H by curve fitting, for example by the method of least squares.
  • the piezohydraulic actuator instead of the piezohydraulic actuator another linear drive

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  • Feedback Control In General (AREA)

Abstract

L'invention concerne un procédé de commande d'un entraînement linéaire selon lequel une relation entre une grandeur de commande et une grandeur de réponse présente une hystérésis. Le procédé fait appel à un modèle présentant au moins une fonction entièrement rationnelle pour ladite relation. L'hystérésis est compensée, au moins en partie, au moyen du modèle. Le groupe d'entraînement linéaire comprend un entraînement linéaire pour lequel une relation entre une grandeur de commande et une grandeur de réponse présente une hystérésis. Le groupe d'entraînement linéaire comprend en outre un dispositif de compensation de l'hystérésis, qui est conçu pour la mise en œuvre d'un procédé de ce type.
PCT/EP2015/066450 2014-09-29 2015-07-17 Procédé de commande d'un entraînement linéaire et groupe d'entraînement linéaire WO2016050378A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014219710.4 2014-09-29
DE102014219710.4A DE102014219710A1 (de) 2014-09-29 2014-09-29 Verfahren zur Steuerung eines Linearantriebs und Linearantriebsaggregat

Publications (1)

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WO2016050378A1 true WO2016050378A1 (fr) 2016-04-07

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PCT/EP2015/066450 WO2016050378A1 (fr) 2014-09-29 2015-07-17 Procédé de commande d'un entraînement linéaire et groupe d'entraînement linéaire

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DE (1) DE102014219710A1 (fr)
WO (1) WO2016050378A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113191025A (zh) * 2021-05-31 2021-07-30 苏州大学 压电驱动的率相关迟滞建模方法、装置、系统及存储介质
CN114039504A (zh) * 2021-10-25 2022-02-11 天津大学 一种逆模型权重函数等密度分割的gma位移补偿方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006000337A1 (fr) * 2004-06-24 2006-01-05 Physik Instrumente (Pi) Gmbh & Co. Kg Procede pour faire fonctionner un actionneur piezoelectrique
DE102012112841A1 (de) * 2012-12-21 2014-06-26 Hilite Germany Gmbh Steuerungsverfahren und Steuervorrichtung für einen Elektromagneten

Family Cites Families (2)

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Publication number Priority date Publication date Assignee Title
DE102007052408A1 (de) * 2007-10-31 2009-05-07 Siemens Ag Verfahren zum Betreiben eines Magnetfeldsensors und zugehörige Anordnung
DE202009012938U1 (de) * 2009-01-30 2010-02-18 Physik Instrumente (Pi) Gmbh & Co. Kg Vorrichtung zur Linearisierung des Auslenkungsverhaltens bei der insbesondere dynamischen Ansteuerung und Regelung eines Piezoaktors oder Piezoaktorsystems

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006000337A1 (fr) * 2004-06-24 2006-01-05 Physik Instrumente (Pi) Gmbh & Co. Kg Procede pour faire fonctionner un actionneur piezoelectrique
DE102012112841A1 (de) * 2012-12-21 2014-06-26 Hilite Germany Gmbh Steuerungsverfahren und Steuervorrichtung für einen Elektromagneten

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
BYUNG-RYONG LEE ET AL: "Precision control of piezoelectric actuator using inverse hysteresis model and neuro control", SCIENCE AND TECHNOLOGY, 2003. PROCEEDINGS KORUS 2003. THE 7TH KOREA-RU SSIA INTERNATIONAL SYMPOSIUM ON JUNE 28 - JULY 6, 2003, PISCATAWAY, NJ, USA,IEEE, vol. 1, 28 June 2003 (2003-06-28), pages 273 - 278, XP010651497, ISBN: 978-89-7868-618-1 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113191025A (zh) * 2021-05-31 2021-07-30 苏州大学 压电驱动的率相关迟滞建模方法、装置、系统及存储介质
CN113191025B (zh) * 2021-05-31 2023-11-10 苏州大学 压电驱动的率相关迟滞建模方法、装置、系统及存储介质
CN114039504A (zh) * 2021-10-25 2022-02-11 天津大学 一种逆模型权重函数等密度分割的gma位移补偿方法
CN114039504B (zh) * 2021-10-25 2024-04-09 天津大学 一种逆模型权重函数等密度分割的gma位移补偿方法

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