粒子群分数阶PIλDμ在压电叠堆控制中应用.docVIP

粒子群分数阶PIλDμ在压电叠堆控制中应用 　　摘要：为了克服压电叠堆的迟滞特性，实现压电叠堆的精确控制，建立了压电叠堆控制系统。对该系统所用到的粒子群、分数阶微积分等算法进行了研究。首先，搭建了采集压电叠堆位移的硬件系统，并对含有噪声的位移数据进行了滤波处理。然后，利用分数阶微积分描述了压电叠堆输出力与驱动电压之间的关系，以此构建了压电叠堆的分数阶模型。最后，利用粒子群算法整定分数阶PIλDμ控制器控制参数对压电叠堆输出位移进行控制。粒子群分数阶PIλDμ控制下系统的输出稳定，很好地跟随了给定，最大误差为实际输出的1.74%要优于粒子群整数阶PID的2.95%。较整数阶模型而言，分数阶模型能够更加准确描述压电叠堆的迟滞特性，提高了建模精度，而结合了粒子群算法的分数阶PIλDμ较粒子群整数阶PID也进一步提高了控制精度。 　　关键词：分数阶模型；分数阶PIλDμ；压电叠堆；粒子群优化算法 　　中图分类号：TP275 文献标识码：A 文章编号：1009-3044（2018）21-0263-03 　　Abstract： In order to overcome the hysteresis characteristics of piezoelectric stack and control piezoelectric stack more accurately， a control system is established and corresponding algorithms such as particle swarm optimization，fractional order differential and integral calculus is investigated. First， a hardware platform was set up to collect displacement of piezoelectric stack and wavelet algorithm was used to removal noise. Then fractional order equation was used to correct linearity of output force and drive voltage of piezoelectric stack， combined with elastic damping model between output force and output displacement of piezoelectric stack， a fractional order model of piezoelectric stack was obtained. Finally， particle swarm optimization was used to set the parameters of fractional order PIλDμ to control displacement of piezoelectric stack. Under the controlling of particle swarm optimization fractional order PIλDμ， output displacement of piezoelectric stack had a good follow with input. Maximum error of control result of PSO-FOPID is 1.74% of the actual output， which is better than control result of particle swarm optimization integral order PID：2.95%. Fractional order model can describe hysteresis characteristics of piezoelectric stack more accurately than integral order model， which improved modeling precision. And particle swarm optimization fractional order PIλDμ can provide higher control accuracy than particle swarm optimization integral order PID to piezoelectric stack. 　　Key words： Fractional ord