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- Title
压电驱动纳米定位台的线性自抗扰控制.
- Authors
魏伟; 夏鹏飞; 左敏
- Abstract
In piezoelectric driven nanopositioning systems, hysteresis severely degrades its positioning accuracy. A hysteresis inverse model based positioning approach is able to improve the accuracy. However, due to its large dependence on model, it cannot guarantee satisfied performance when internal and external disturbances exist. To address such problem, hysteresis is taken to be a kind of disturbance, a model independent control, i.e. active disturbance rejection control (ADRC), is designed. An extended state observer (ESO) is used to estimate hysteresis actively and compensate it by control signal in real time to ensure the positioning accuracy. The convergence of ESO and the stability of the closedloop system are analyzed. Relationship between control parameters of ADRC and the response of the system has been discussed. System response, integral of time-multiplied absolute-value of error (ITAE), mean absolute error (MAE) and root mean square error (RMSE) of PI control and ADRC have been compared. Both numerical and experimental results show that ADRC is superior to PI control. It confirms that ADRC can actively estimate hysteresis, internal uncertainties, and external disturbances. Those undesired issues can be cancelled before they reducing the positioning accuracy. Therefore, satisfied performance can be guaranteed.
- Publication
Control Theory & Applications / Kongzhi Lilun Yu Yinyong, 2018, Vol 35, Issue 11, p1577
- ISSN
1000-8152
- Publication type
Article
- DOI
10.7641/CTA.2018.80348