面向直线超声电机高性能运动控制的分步综合非线性系统辨识建模

项目名称： 面向直线超声电机高性能运动控制的分步综合非线性系统辨识建模

项目编号： No.51505020

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 肖文磊

作者单位： 北京航空航天大学

项目金额： 20万元

中文摘要： 直线超声电机在超精密运动平台中具有广阔的应用前景。面对直线超声电机越来越高的运动控制性能和调幅/调频/调相的复合控制需求，亟需建立更为精确且能够反映时变非线性特征的控制模型。本项目针对直线超声电机的时变、非线性和强耦合的能量转换过程，提出了分步综合非线性辨识建模的研究思路和方法，以解决目前研究中解析模型不适用于控制而辨识模型又过于简化的弊端。主要包括：采用非线性Volterra级数对驱动电路进行建模；采用时频分析系统辨识法对压电振子系统进行建模；采用NARMAX模型和时频分析系统辨识法对摩擦接触机理进行联合建模；分析分步模型之间的耦合作用，构建直线超声电机的综合非线性模型。本项目旨在为超声电机的建模问题引入一种新的研究思路和解决方法，为直线超声电机的高性能运动控制奠定重要的理论和技术基础。

中文关键词： 直线超声电机；非线性系统辨识；时频分析系统辨识；Volterra级数；NARMAX模型

英文摘要： Currently, the high-precision motion stage has a growing request for linear ultrasonic motors. Due to the increasing demands for high performance motion control and hybrid amplitude/frequency/phase modulations, a more precise control model is desired for describing the time-varying nonlinearity. In this proposal, we introduce a new step-by-step modelling method using different nonlinear system identification approaches. Afterwards, an integrated model is synthesized from those sub-models, which also considers the coupling effects. This research attempts to obtain a nonlinear reference model for the high performance motion control of a linear ultrasonic motor, and remedy the defects of conventional analytical and black-box identification methods. The study mainly includes: Modeling the drive circuit using Volterra Series; Modeling the piezoelectric vibrator system using the system identification method with the time-frequency analysis; Modeling the contact friction mechanism using the combination of NARMAX and time-frequency identification models. After considering the coupling effects among different sub-models, an integrated nonlinear model can be obtained to describe a linear ultrasonic motor. This research aims at establishing a theoretically and technically solid foundation for the high performance motion control of linear ultrasonic motors.

英文关键词： Linear Ultrasonic Motor;Nonlinear System Identification;Time-frequency Identification;Volterra Seria;NARMAX Model