Study On High Precision Motion Control Method Of Piezoelectric Materials In Incompletely Repeated Environment

As a kind of smart material,piezoelectric actuator(PEA)has the advantages of nanometer control precision,rapid response speed,so that it has been widely used in engineering applications.Netheless,piezoelectric material suffer from drawbacks produced by ratedependent hysteresis nonlinearity,which degrades the performance of control system severely.This paper mainly focuses on exploiting effective control algorithm to achieve high precision tracking in the situation of incomplete repeated control environment.In this paper,the Bouc-Wen model of PEA is first established,and then the tracking issue of PEA is deeply studied,including the following contributions:1)Based on the Hammerstein model theory,the Bouc-Wen + ARX rate-dependent hysteresis model of PEA are established using system identification.Then,PID control and PID+Inverse compensation control are designed respectively.The experimental results show that the control method based on inverse compensation has better performance.2)A Model–Inverse ILC algorithm is proposed to further reduce the tracking error,and the convergence of the controller is derived rigorously in the frequency domain.Experiments show that the designed controller can achieve fast convergence of errors through several iterations,and the tracking precision can be improved remarkably via iterative learning compared with the PID +inverse compensation control.3)A dual-loop ILC algorithm is proposed,which can simultaneously process the input hysteresis and linear dynamic of the system.The merit of this controller lies in that,accurate system models are not prerequisite so that the control design is greatly simplified.Simulation results show that the dual-loop ILC is superior to the single loop ILC in terms of convergence speed and control accuracy.