[1]邹守睿,武毅男,方勇纯.循环神经网络前馈补偿的压电驱动器跟踪控制[J].智能系统学报,2021,16(3):567-574.[doi:10.11992/tis.202104010]
ZOU Shourui,WU Yinan,FANG Yongchun.Tracking control of piezoelectric actuator based on feedforward compensation of recurrent neural network[J].CAAI Transactions on Intelligent Systems,2021,16(3):567-574.[doi:10.11992/tis.202104010]
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ZOU Shourui,WU Yinan,FANG Yongchun.Tracking control of piezoelectric actuator based on feedforward compensation of recurrent neural network[J].CAAI Transactions on Intelligent Systems,2021,16(3):567-574.[doi:10.11992/tis.202104010]
循环神经网络前馈补偿的压电驱动器跟踪控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
16
期数:
2021年第3期
页码:
567-574
栏目:
吴文俊人工智能科学技术奖论坛
出版日期:
2021-05-05
- Title:
- Tracking control of piezoelectric actuator based on feedforward compensation of recurrent neural network
- Keywords:
- piezoelectric actuator; hysteresis; nonlinearity; recurrent neural network; inverse model; feedforward control; neuron; adaptive control
- 分类号:
- TP273
- 摘要:
- 压电驱动器固有的迟滞特性，以及其他动态特性严重地影响其跟踪性能。循环神经网络能够准确拟合非线性系统，并且具有记忆存储能力，本文设计了一种循环神经网络对压电驱动器的迟滞特性进行建模，进而得到能够准确模拟输出位移和输入电压之间关系的逆模型，并据此对压电驱动器进行前馈补偿。此外，考虑到建模误差以及其他扰动对驱动器跟踪精度的影响，本文设计了一种单神经元自适应比例-积分-微分控制器，对压电驱动器进行跟踪控制，从而实现对期望信号的准确跟踪。实验结果验证了所建立模型的精度以及控制器的跟踪性能。
- Abstract:
- However, PEAs’ inherent hysteresis, combined with other dynamic properties, negatively influences their tracking performance. Because recurrent neural networks can accurately fit nonlinear systems with memory storage capabilities, a recurrent neural network is designed to model the hysteresis of PEAs. Then, an accurate inverse model of the relationship between the output displacement and the input voltage is obtained, through which feedforward compensation is performed on PEAs. Furthermore, because modeling errors and other disturbances affect PEA tracking accuracy, a single neuron adaptive proportional-integral-derivative controller is designed to accurately track the desired signal by tracking the PEAs. Finally, experimental results verify the proposed model’s accuracy and the tracking performance of the designed controller.
- 参考文献/References:
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备注/Memo
收稿日期:2021-04-07。
基金项目:国家自然科学基金项目(61633012，62003172)
作者简介:邹守睿，硕士研究生，主要研究方向为压电驱动器的建模与控制;武毅男，助理研究员，博士，主要研究方向为原子力显微镜的控制与成像、压电驱动器的建模与控制;方勇纯，教授，博士生导师，享受国务院政府特殊津贴，主要研究方向为非线性控制、原子力显微镜、机器人视觉伺服、无人机及桥式吊车等欠驱动系统控制。曾获吴文俊人工智能自然科学一等奖、中国自动化学会教学成果一等奖、陈翰馥奖、天津市自然科学一等奖、天津市教学成果一等奖等。主持国家自然科学基金项目20余项，发表学术论文400余篇.
通讯作者:武毅男.E-mail:wuyn@nankai.edu.cn
更新日期/Last Update:
2021-06-25