复杂压电驱动系统动力学建模、分析与控制

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 computing difficulties caused by too high matrix orders, will be put forward. The proposed controlled multi-body system transfer matrix method can greatly accelerate the speed of dynamics calculations, and improve the dynamics analysis and control performance of the complex piezoelectric-driven systems. The research can solve the basis problem of the complex piezoelectric-driven system, and provide a new method to realize the dynamics analysis and control design of the complex piezoelectric-driven systems.

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。

基于逆压电效应研制的压电执行器因其重量轻、位移分辨率高、响应速度快、机电转换效率高等优点，广泛应用于航空/航天自适应结构、微/纳操作、半导体加工、主动振动控制、机器人等领域中。为了提高复杂压电驱动系统动力学和动力学控制的性能，复杂压电驱动系统动力学分析与控制设计方法成为复杂压电驱动系统设计与研制中最为关键的问题。本项目为解决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，提出并实现了基于非对称Bouc-Wen模型的线性化控制方法；为解决复杂压电驱动系统动力学建模和快速计算的问题，本项目考虑压电执行器的粘接层建立了能准确描述压电执行器动态特性的动力学模型，在此基础上将复杂压电驱动系统视为以一定方式相联接的多个物体组成的多体系统，以多体系统动力学分析控制为理论研究的切入点，实现了复杂压电驱动系统动力学分析无需系统总体动力学方程和快速计算的突破，建立了基于受控多体系统传递矩阵法的复杂压电驱动系统分析与动力学控制方法，为提高复杂压电驱动系统的动力学性能提供全新方法和手段，解决了制约复杂压电驱动多体系统发展的基础问题。采用本项目的研究成果实现了二自由度压电驱动快反镜的精密定位控制，并用于天文望远镜的星光跟踪系统，有效地提高了成像清晰度。