磁致伸缩作动器的位置跟踪补偿控制

摘要

Based on the Jiles-Atherton hysteresis and dynamic model,the actuator linearity is im-proved by optimizing the paranoid magnetic field and the preload to improve the control precision of magnetostrictive actuator.And the feedforward compensation PID and flexible neural network feed-forward compensation PID control strategies are proposed on the basis of the feedforward control,PID feedback control and flexible neural network theory.Then,the actuator position tracking and com-pensation control are researched with the bias sine and step as commanding signal.The simulation re-sults show that compared with traditional PID control and feedforward compensation PID control,the flexible neural network feedforward compensation PID controller is good in tracking performance and anti-disturbance capability and that it is characterized by non-vibration,non-overshoot and fast re-sponse.%为提高磁致伸缩作动器控制精度，以 Jiles-Atherton 磁滞和动力学模型为基础，通过优化偏执磁场和预紧力来提高作动器线性度，并基于前馈控制、PID 反馈控制及柔性神经网络理论，提出了前馈补偿 PID 及柔性神经网络前馈补偿 PID 控制策略。同时，以偏置正弦和阶跃为指令信号，研究作动器的位置跟踪和补偿控制。仿真表明：相比常规 PID 控制和前馈补偿 PID 控制，柔性神经网络前馈补偿 PID 控制具有更好的位置跟踪效果和抗干扰能力，具有无振荡、无超调、响应速度快的特点。