复杂压电驱动系统动力学建模、分析与控制

项目名称： 复杂压电驱动系统动力学建模、分析与控制

项目编号： No.61304137

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 朱炜

作者单位： 南京理工大学

项目金额： 26万元

中文摘要： 广泛应用于航空/航天自适应结构、微/纳操作、半导体加工、机器人、燃油喷射、主动振动控制等领域的各种复杂压电驱动系统，都可视为刚体、柔体、质点、控制元件以各种方式铰接而成的复杂受控多体系统。复杂受控多体系统动力学分析与控制方法已成为上述领域进行复杂压电驱动系统设计与研制的急需。本项目针对压电执行器迟滞特性致使复杂压电驱动系统呈现非线性特性的问题，拟采用基于非对称Bouc-Wen模型的线性化控制方法将压电执行器线性化；针对复杂压电驱动系统动力学计算速度慢导致动力学分析与控制难以实现的问题，建立复杂压电驱动系统的受控多体系统传递矩阵法，使复杂压电驱动系统动力学计算无需系统总体动力学方程并且系统矩阵阶次远低于自由度数，大大加快动力学计算速度，提高复杂压电驱动系统动力学分析与控制性能。通过本项目的研究，为压电驱动系统的动力学分析和控制设计提供全新方法和手段，解决制约复杂压电驱动系统发展的基础问题。

中文关键词： 压电执行器；迟滞；动力学模型；线性化控制；

英文摘要： Various complex piezoelectric-driven systems, which have been widely used in aeronautics/aerospace adaptive structures, micro/nano operations, semiconductor processing, robotics, fuel injections, active vibration control, can be attributed to the complex multi-body systems articulated by the rigid bodies, flexible bodies, and control elements in various ways. In order to design and manufacture the complex piezoelectric-driven systems in the above field, it is urgent to the dynamics analysis and control theory of complex multi-body systems. In order to solve the problem that the complex piezoelectric-driven systems have nonlinear characteristics because of the hysteresis behavior of piezoelectric actuators, a linearization control method based on the asymmetrical Bouc-Wen model will be proposed. In order to solve the problem that dynamics calculations is not enough quick to achieve the dynamics analysis and control of the complex piezoelectric-driven systems, a controlled multi-body system transfer matrix method of the complex piezoelectric-driven systems, which can avoid establishing the global dynamics equation of the systems so that simplifies solution procedure of the complex piezoelectric-driven systems dynamics and make the system matrix order is far lower than the number of the freedom degrees to avoid the

英文关键词： piezoelectric actuator；hysteresis；dynamics model；linearization control；