Tracking Control of a Piezoceramic Actuator System Using a Combined Self-tuning Regulator and Phase-lead Compensator

摘要

This paper presents the modeling and control of a piezoceramic actuator system. To compensate the hysteresis effect of the piezoceramic actuator, a self-tuning regulator combined with a feedforward phase-lead compensator is proposed. Dynamic model of the piezoceramic actuator system is derived and analyzed by using the recursive least-squares method. The self-tuning regulator is designed to achieve desired tracking performance as well as deal with system parameters variation" based on the identified model. The phase-lead compensator is employed to compensate the phase lag of tracking response due to the hysteresis effect. Experimental results not only show that maximum tracking error are significantly reduced if the phased lead compensator is added in the feedforward loop, they also demonstrate that the proposed controller can obtain faster transient response and smaller tracking error than a proportional-integral-derivative (PID) controller.