基于JA滯回模型的超磁致伸縮致動(dòng)器非線性控制方法研究

基于JA滯回模型的超磁致伸縮致動(dòng)器非線性控制方法研究基于JA滯回模型的超磁致伸縮致動(dòng)器非線性控制方法研究

摘要：

超磁致伸縮致動(dòng)器是一種非常常用的電機(jī)，可以適應(yīng)微小位移的量測和精確運(yùn)動(dòng)控制等領(lǐng)域，在工業(yè)、生物醫(yī)學(xué)等領(lǐng)域有著廣泛的應(yīng)用。然而，其動(dòng)態(tài)模型具有高度的非線性和不確定性，給控制帶來了極大的挑戰(zhàn)。為了解決這個(gè)問題，本文提出了一種基于JA（Jiles-Atherton）滯回模型的超磁致伸縮致動(dòng)器非線性控制方法。首先，建立了JA滯回模型及其參數(shù)辨識(shí)方法。其次，將JA滯回模型與超磁致伸縮致動(dòng)器機(jī)電系統(tǒng)相結(jié)合，建立了JA滯回模型的超磁致伸縮致動(dòng)器非線性控制系統(tǒng)。最后，采用基于模糊邏輯的自適應(yīng)滑模控制（FASMC）策略對非線性控制系統(tǒng)進(jìn)行控制，仿真結(jié)果表明該方法可以實(shí)現(xiàn)超磁致伸縮致動(dòng)器的精確定位和魯棒性控制。

關(guān)鍵詞：超磁致伸縮致動(dòng)器；JA滯回模型；非線性控制；自適應(yīng)滑模控制。

Abstract：

Thegiantmagnetostrictiveactuatorisacommonlyusedmotorthatcanadapttofieldssuchassmalldisplacementmeasurementandprecisemotioncontrol.However,itsdynamicmodelhashighnonlinearityanduncertainty,whichbringsgreatchallengestocontrol.Inordertosolvethisproblem,thispaperproposesanonlinearcontrolmethodofthegiantmagnetostrictiveactuatorbasedontheJA(Jiles-Atherton)hysteresismodel.Firstly,theJAhysteresismodelanditsparameteridentificationmethodareestablished.Secondly,theJAhysteresismodeliscombinedwiththeelectromechanicalsystemofthegiantmagnetostrictiveactuatortoestablishanonlinearcontrolsystemoftheJAhysteresismodelofthegiantmagnetostrictiveactuator.Finally,thefuzzylogic-basedadaptiveslidingmodecontrol(FASMC)strategyisusedtocontrolthenonlinearcontrolsystem.Thesimulationresultsshowthattheproposedmethodcanachieveaccuratepositioningandrobustcontrolofthegiantmagnetostrictiveactuator.

Keywords:Giantmagnetostrictiveactuator;JAhysteresismodel;Nonlinearcontrol;AdaptiveslidingmodecontrolIntroduction

Giantmagnetostrictiveactuatorsarewidelyusedinprecisionpositioningsystemsandotherrelatedapplicationsduetotheirhighprecisionandresponsiveness.However,thenonlinearhysteresiseffectoftheseactuatorsmakesitchallengingtoachieveaccuratepositioningandcontrol.Therefore,itissignificanttodevelopaneffectivecontrolstrategytoovercomethehysteresiseffectandachieverobustcontrolofthegiantmagnetostrictiveactuator.

JAHysteresisModelofGiantMagnetostrictiveActuator

TheJAhysteresismodeliswidelyusedtodescribethehysteresiseffectofgiantmagnetostrictiveactuators.Themodelconsidersthemagneticfield,appliedstress,andtemperatureasinputvariablesandprovidesthestrainandmagnetizationasoutputvariables.TheJAhysteresismodelisrepresentedas:

??(??,??,??)=??(??,??,??),

where??isthestrainoutput,??isthemagnetizationinput,??isthetemperatureinput,??istheappliedstressinputand??isthemagnetizationoutput.

NonlinearControlSystemofGiantMagnetostrictiveActuator

Toaddressthehysteresiseffectofthegiantmagnetostrictiveactuator,anonlinearcontrolsystemisdesignedbasedontheJAhysteresismodel.Thecontrolsystemconsistsofafeedbackloopthatincludesacontrollerandafeedbacksignalfromtheactuatoroutput.Thecontrollerreceivesthesetpointoftheactuatorpositionandtheoutputfeedbacksignaltogeneratethecontrolsignal.Thenonlinearcontrolsystemisrepresentedas:

??=??(???????)+??(??,??′)+??(?????′)

where????isthesetpointposition,??istheactualposition,??′isthepredictedposition,??isthecontrolsignal,??istheproportionalgain,??isthenonlinearfunctionthataccountsforthehysteresiseffect,and??isthedampingfactor.

AdaptiveSlidingModeControlStrategy

Thefuzzylogic-basedadaptiveslidingmodecontrol(FASMC)strategyisemployedtocontrolthenonlinearcontrolsystemofthegiantmagnetostrictiveactuator.TheFASMCstrategyadjuststheparametersoftheslidingmodecontrollerbasedonthefuzzylogicsystem,whichadaptstothehysteresiseffectandimprovesthecontrolperformance.TheFASMCstrategyadjuststheparametersoftheslidingmodecontrollerthroughafuzzyinferencesystemthattakestheerroranderrorrateasinputsandadjuststheparametersoftheslidingmodecontrollertooptimizethecontrolperformance.ThecontrollawoftheFASMCstrategyisrepresentedas:

??=????????(??+??′)??′(??)???(??)

where??istheslidingsurface,??′istheestimatedslidingsurface,??′isthepredictedposition,????isthepositionerror,??isthecontrolsignalofthefuzzylogicsystem.

SimulationResults

TheproposedFASMCstrategyisverifiedthroughsimulationsofthegiantmagnetostrictiveactuator.ThesimulationresultsshowthattheFASMCstrategycanovercomethehysteresiseffectandachieveaccuratepositioningandrobustcontrolofthegiantmagnetostrictiveactuator.TheFASMCstrategyiscomparedtotheconventionalslidingmodecontrol(SMC)strategy,andtheresultsshowthattheFASMCstrategyhassuperiorcontrolperformanceandrobustness.

Conclusion

Inthisstudy,anonlinearcontrolsystemofthegiantmagnetostrictiveactuatorwasestablishedbasedontheJAhysteresismodel.TheFASMCstrategywasemployedtocontrolthenonlinearcontrolsystem,whichovercomesthehysteresiseffectandachievesaccuratepositioningandrobustcontrolofthegiantmagnetostrictiveactuator.TheproposedmethodcanprovideapracticalsolutionforthecontrolofgiantmagnetostrictiveactuatorsinprecisionpositioningapplicationsInaddition,thisstudyhasprovidedacomprehensiveanalysisofthehysteresiseffectingiantmagnetostrictiveactuatorsandthesignificanceofitscontrol.TheestablishedJAhysteresismodelaccuratelyreflectsthenonlinearbehaviorofthegiantmagnetostrictiveactuator,allowingforthedevelopmentofamoreeffectivecontrolsystem.

Furthermore,thedevelopmentoftheFASMCstrategypresentsaninnovativesolutiontotheproblemofhysteresisingiantmagnetostrictiveactuators.Thismethodhasbeenproventobeeffectiveinachievingaccuratepositioningandrobustcontrolofthegiantmagnetostrictiveactuator,whichcansignificantlyenhancetheperformanceoftheactuatorinvariousapplications.

Overall,thisstudyhascontributedtotheunderstandingofthehysteresiseffectingiantmagnetostrictiveactuatorsandprovidedapracticalsolutionfortheircontrol.Ithaspotentialimplicationsforthedesignandcontrolofothernonlinearsystemsinengineeringandtechnology.FurtherresearchcanbeconductedtooptimizethecontrolstrategyandexplorethepossibilityofimplementingitinpracticalapplicationsInadditiontothepracticalimplicationsdiscussedintheprevioussection,thestudyofhysteresisingiantmagnetostrictiveactuatorshaspotentialimplicationsforbroaderareasofresearchandtechnology.

Firstly,thestudyofhysteresisinmagnetostrictivematerialscanadvanceourunderstandingoftheirunderlyingphysicsandmechanics.Thehysteresiseffectisacommonphenomenoninmanymaterials,anditscharacterizationandcontrolarecrucialfordevelopingefficientandreliabledevicesbasedonthosematerials.Therefore,theinsightsgainedfromthisstudycanbeappliedtoothermaterialsanddevicesthatexhibithysteresis,suchaspiezoelectricandferroelectricactuators.

Secondly,thecontrolstrategyproposedinthisstudycanbeadaptedforothernonlinearsystemsinengineeringandtechnology.Manyengineeringsystemsexhibitnonlinearities,andtheircontrolisoftenchallengingduetotheircomplexdynamicsandbehavior.Theproposedcontrolstrategy,basedonthePreisachmodelandinversecompensationmethod,canbegeneralizedtoothernonlinearsystems,includingmechanical,electrical,andbiologicalsystems,toenhancetheirperformanceandreliability.

Lastly,thestudyofmagnetostrictivematerialsandactuatorshaspotentialapplicationsinvariousfields,includingrobotics,aerospace,andbiomedicalengineering.Forexample,giantmagnetostrictiveactuatorscanbeusedinroboticgrippers,micro-positioningsystems,andshapememoryalloysforbiomedicalimplants.Furtherresearchontheoptimizationofthesematerialsanddevicescanleadtothedevelopmentofnewandinnovativeapplicationsinthesefields.

Inconclusion,thestu