率相关超磁致伸缩作动器的建模与H∞鲁棒控制

Modeling and H-infinity robust control for giant magnetostrictive actuators with rate-dependent hysteresis

中文关键词  超磁致伸缩作动器  率相关迟滞  Hammerstein-like模型  最小二乘支持向量机  建模  H∞鲁棒控制

英文关键词  giant magnetostrictive actuator  rate-dependent hysteresis  Hammerstein-like model  least-squares support vector machines (LS–SVM)  modeling  H-infinity robust control

中文摘要

      超磁致伸缩作动器(GMA)的率相关迟滞非线性成为其在工程应用中的一大阻碍因素. 文中通过使用特殊的建模激励信号, 基于最小二乘支持向量机(LS–SVM)建立了一定频率范围内的一个统一率相关Hammersteinlike迟滞非线性模型, 该模型能够保证其建模频率范围内单频和复合频率的模型泛化性. 在此模型基础上, 设计了针对一定频率范围内输入信号的H∞鲁棒跟踪控制器, 针对该频率范围内的所有单频和复合频率的输入信号, 该控制器都能够保证其跟踪控制效果, 最后通过实验实时跟踪控制结果来进一步验证了所设计控制器的有效性.

英文摘要

      The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. In this paper, a Hammerstein-like model based on the least-squares support vector machines (LS–SVM) is proposed to model the rate-dependent hysteresis system. We show that it is possible to construct a unique dynamic model in a given frequency range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set of signals for the linear dynamic subsystem of the Hammerstein-like model, which guarantees an outstanding generalization ability of frequency. Subsequently, a robust controller based on the Hammerstein-like model is implemented to a magnetostrictive smart structure for real-time precise trajectory tracking. Simulations and experiments on a giant magnetostrictive actuator (GMA) verify both the effectiveness and the practicality of the proposed modeling and control methods.