宏纤维复合材料作动器非对称迟滞建模与前馈线性化控制研究

doi:10.3901/JME.2023.15.142

机械工程学报 ›› 2023, Vol. 59 ›› Issue (15): 142-150.doi: 10.3901/JME.2023.15.142

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宏纤维复合材料作动器非对称迟滞建模与前馈线性化控制研究

沈意平¹, 傅志强¹, 王送来¹, 李坚², 宾光富¹, 胡斌梁¹

1. 湖南科技大学机械设备健康维护湖南省重点实验室湘潭 411201;
2. 中国航发湖南航空动力机械研究所株洲 412002

收稿日期:2022-08-27 修回日期:2022-12-25 出版日期:2023-08-05 发布日期:2023-09-27
通讯作者: 沈意平(通信作者),女,1981年出生,博士,教授,博士研究生导师。主要研究方向为机械系统动力学、振动与噪声控制、压电材料与智能结构。E-mail:yiping1011@163.com
作者简介:傅志强,男,1992年出生,博士研究生。主要研究方向为智能材料与智能结构、振动与噪声控制。E-mail:fuzhiqiang1992@126.com;王送来,男,1979年出生,博士,讲师,硕士研究生导师。主要研究方向为智能材料与智能结构、振动与噪声控制。E-mail:qingfeng0259@163.com;李坚,男,1985年出生,博士,研究员。主要研究方向为机械系统动力学、航空发动机结构强度及可靠性。E-mail:lijiannpu@163.com;宾光富,男,1981年出生,博士,教授,博士研究生导师。主要研究方向为机械系统动力学、智能诊断与振动控制。E-mail:abin811025@163.com;胡斌梁,男,1965年出生,博士,教授,硕士研究生导师。主要研究方向为机械系统动力学。E-mail:blhu@hnust.edu.cn
基金资助:
国家自然科学基金(52175091,52275107)、湖南创新型省份建设专项经费(2020RC3049)、湖南省自然科学基金(2022JJ30260,2020JJ6029)和湖南省教育厅重点(21A0310)资助项目

Research on Asymmetric Hysteresis Modeling and Feedforward Compensation of Macro Fiber Composite Actuator

SHEN Yiping¹, FU Zhiqiang¹, WANG Songlai¹, LI Jian², BIN Guangfu¹, HU Binliang¹

1. Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of Science and Technology, Xiangtan 411201;
2. AECC Hunan Aviation Powerplant Research Institute, Zhuzhou 412002

Received:2022-08-27 Revised:2022-12-25 Online:2023-08-05 Published:2023-09-27

摘要/Abstract

摘要： 宏纤维复合材料(Macro fiber composite, MFC)具有柔性高、驱动力大、机电响应快等优点被广泛应用于柔性结构精密变形控制,但其固有的非对称迟滞非线性特征严重影响控制精度。基于Sigmoid函数的凹凸形特征构造了非对称改进Bouc-Wen模型,采用信赖域反射法和异步粒子群优化相结合的混合算法对模型参数进行辨识,开展MFC作动器前馈线性化控制应用研究。结果表明,改进Bouc-Wen模型能够准确描述MFC作动器非对称迟滞特征,相对经典Bouc-Wen模型,改进Bouc-Wen模型对MFC在0.1 Hz、1 Hz、5 Hz下迟滞曲线拟合的相对均方误差分别降低了73%、71%、52%。非对称修正算子在电压加载和卸载阶段均呈现出凹凸组合修正方式,在电压加载阶段以凹修正为主,卸载阶段以凸修正为主。基于修正Bouc-Wen迟滞逆模型的前馈补偿方法对正弦波和三角波位移跟踪均具有较高的控制精度。

关键词: 宏纤维复合材料, 非对称迟滞, 参数辨识, 前馈线性化

Abstract: Macro fiber composite (MFC) has been widely used in the precise deformation control due to its advantages of high flexibility, large driving force, and fast electromechanical response, but its inherent asymmetric hysteresis nonlinear characteristics seriously affect its control accuracy. Sigmoid functions with concave and convex features are used to built an asymmetric modified Bouc-Wen model, and a hybrid algorithm combining trust region reflection method and asynchronous particle swarm optimization is used for parameter identification. The results show that the modified Bouc-Wen model can effectively simulate the asymmetric nonlinear behavior of MFC actuators. Compared with the classical Bouc-Wen model, the relative mean square fitting errors of the modified Bouc-Wen model at 0.1 Hz, 1 Hz, and 5 Hz are reduced by 73%, 71%, and 52%, respectively. The asymmetric correction operator shows a combination of concave and convex correction methods in the voltage loading and unloading stages. The concave correction is major used during voltage loading stage, and the convex correction is major used during voltage unloading stage. Based on the inverse model of the proposed modified Bouc-Wen model, the feedforward compensation control method can accurately track the motion trajectory of the sine and triangular wave.

Key words: macro fiber composite, asymmetric hysteresis, parameter identification, feedforward linearization

中图分类号:

TB535
TP13

沈意平, 傅志强, 王送来, 李坚, 宾光富, 胡斌梁. 宏纤维复合材料作动器非对称迟滞建模与前馈线性化控制研究[J]. 机械工程学报, 2023, 59(15): 142-150.

SHEN Yiping, FU Zhiqiang, WANG Songlai, LI Jian, BIN Guangfu, HU Binliang. Research on Asymmetric Hysteresis Modeling and Feedforward Compensation of Macro Fiber Composite Actuator[J]. Journal of Mechanical Engineering, 2023, 59(15): 142-150.

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宏纤维复合材料作动器非对称迟滞建模与前馈线性化控制研究

Research on Asymmetric Hysteresis Modeling and Feedforward Compensation of Macro Fiber Composite Actuator

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