【作者】 黄金永；

【导师】 魏燕定；

【作者基本信息】 浙江大学 ， 机械制造及其自动化， 2004， 硕士

【摘要】 本论文以压电陶瓷驱动的空间用精密微位移平台为研究对象，围绕平台轻型化、微型化和高精度定位等性能指标，进行了较系统全面的理论分析和实验研究，主要内容如下： 第一章分析了构成微位移系统的各个组成部分，包括驱动器类型、导轨形式、传感器型号及性能、控制策略等；回顾了精密定位微位移平台在国内外的发展历史和现状；结合空间用特点，确定了本项目平台的导轨形式和驱动器类型。 第二章设计了采用柔性铰链导轨和压电驱动器的空间用微位移平台，给出了平台柔性铰链等参数的计算公式和快速设计流程，并通过有限元分析法和实际样机验证了方法的有效性。通过理论分析及实验研究，掌握了压电驱动器的各项特性，研制了高精度直流式高压驱动电源。 第三章建立了微位移系统的控制系统，并得到了传递函数。采用改进的Preisach模型对压电驱动器的迟滞特性进行建模，得到了适合于计算机控制的数字积分公式和实验模型数据表格。并提出了一种基于迭代自学习控制(ILC)新颖的压电驱动器的电源线性化方法。 第四章介绍了两种对平台的开环精密定位控制方法，一种是基于迭代学习控制(ILC)的快速电压-位移线性化方法，另一种是基于修正的Preisach模型对迟滞进行建模的方法，并指出了他们各自应用场合和优缺点。研究了微位移系统的闭环精密定位控制方法。在分析讨论PID控制算法的基础上，利用改进的Preisach模型作为前馈环节，使得系统的动态响应特性得到较大的改善。并对超低频的外干扰信号激励下进行了精密定位控制，结果表明提出的控制算法具有较高的抑制干扰能力，能满足指定的定位精度要求。 第五章概括了本论文的主要工作，并展望了今后需要进一步开展的工作。更多还原

【Abstract】 In this dissertation, the space micro-displacement platform featuring piezoelectric actuators is studied. The research focuses on the lightweight, micromation, and high precision positioning of the platform. This dissertation is arranged as follows.In chapter 1, the components of the micro-displacement system are analyzed which includes actuators’ type, guideway’s layout, the types and properties of sensors and control strategy. The present research situation in precision positioning micro-displacement platform at home and abroad is reviewed. The layout of guideways and types of actuators are determined considering the characteristic in space.In chapter 2, the micro-displacement platform using a flexure hinge guideway and a piezoelectric actuator is designed. Calculation formulas of parameters in a flexure hinge and a fast design method are given. The validity of the method is confirmed by finite element method and prototype model. By theoretical analysis and experiments, the properties of piezoelectric actuators are grasped. A DC driving power with high precision and high voltage is developed.In chapter 3, the control system of the space micro-displacement platform is set up and the transfer function is given. Digital integral formulas and experiment model data table that are suitable to computer control are acquired by modeling the hysteresis using the modified Preisach model. And a new power linearization for piezoelectric actuators based on iterative learning control (ILC) is given.In chapter 4, two open-loop precision positioning control methods are introduced, one is a fast voltage-displacement linearization based on iterative learning control (ILC), and the other uses the modified Preisach model to model the hysteresis. In addition, their application occasions and strong and weak points are represented. A close-loop precision positioning control method is studied on the micro-displacement system. Based on analyzing and discussing the PID algorithm, the dynamic response property of the system is improved by using the modified Preisach model as a feedforward segment. Precision positioning control is implemented with the excitation of ultra-low frequency disturbance. The results show that the proposed control algorithm has a good ability to suppress disturbance and meet the precision requirement.In chapter 5, main achievements of the dissertation are summarized and the further research work, which will be done in the near future now on is put forward.更多还原