CAJ | 학술논문

针对实现智能作动器精确运动需对迟滞非线性进行辨识、补偿问题，采用奇异值分解方法辨识Preisach模型参数，构造变幅值谐波输入信号满足持续激励条件；基于辨识模型设计逆模型前馈补偿Preisach迟滞非线性；通过压电平台检验该辨识、补偿方法。实验结果表明，奇异值分解法可有效辨识迟滞效应非线性模型，基于辨识结果的逆模型补偿可减小跟踪误差89．5％。
침대실현지능작동기정학운동수대지체비선성진행변식、보상문제，채용기이치분해방법변식Preisach모형삼수，구조변폭치해파수입신호만족지속격려조건；기우변식모형설계역모형전궤보상Preisach지체비선성；통과압전평태검험해변식、보상방법。실험결과표명，기이치분해법가유효변식지체효응비선성모형，기우변식결과적역모형보상가감소근종오차89．5％。
The working performance of smart actuators is affected by the hysteretic effect nonlinearity.Thus,it is necessary to identify and compensate the hysteresis nonlinearity to achieve precise motion.By virtue of the singular value decomposition (SVD)method,the parameters of the Preisach model were identified,taking designed harmonic signals with varying amplitudes as inputs to satisfy PE condition.Then,based on the identified Preisach model,the model-inversion feedforward was designed to compensate the hysteresis nonlinearity.A piezoelectric stage was used to validate the proposed identification and compensation methods.The experimental results indicate that the hysteresis nonlinearity can be identified using the SVD method,and the tracking error is reduced by 89.5% using the model-inversion compensator.