以Haar小波函數近似為基礎之適應性滑動控制器於壓電致動X-Y平台之控制

Haar Wavelet Functional Approximation Based Adaptive Sliding Controller for the Piezo-Actuating X-Y Table Control

陳宏毅(Hung-Yi Chen) ； 梁晶煒(Jin-Wei Liang) ； 褚育廷(Yu-Ting Chu)

《應用聲學與振動學刊》 2卷1期 (2010/04) Pp. 36-45

https://doi.org/10.6282/JASV.2010.2.1.04

摘要

由於壓電致動系統具有磁滯非線性及時變之特性，所以要建立系統確切之數學模式來進行需要數學模式爲基礎之控制器設計是不容易的。若以正交函數爲基底之函數近似法來代表系統動態模式中之未知函數，可以免去需要系統數學模式之限制。本研究嘗試設計以Haar小波函數近似爲基礎之適應性滑動控制器來針對壓電致動X-Y平台進行追跡控制，研究中利用Lyapunov穩定法則來確保控制系統在受控過程中之穩定性，並藉以獲得系統控制參數之更新律。從實驗的結果可以得知本研究所設計之以Haar小波函數近似爲基礎之適應性滑動模式控制器，不論在無外加干擾或具有外加干擾的情況下，均能呈現良好之控制成效。

關鍵字

磁滯非線性 ； Haar小波函數近似法 ； 壓電致動X-Y平台

並列摘要

Since the piezo-actuating system has hysteresis nonlinearity and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller. Here, a Haar wavelet functional approximation based adaptive sliding controller is proposed to control the piezo-actuating X-Y table. The functional approximation technique is employed to represent the unknown function and release the model-based requirement of sliding-mode control. The update laws for the coefficients of the Haar wavelet functions are derived from a Lyapunov function to guarantee the control system stability. Tracking control of a piezo-actuating X-Y table using the proposed algorithm is investigated. The experimental results show that the proposed control scheme has good control performance even having external disturbances.

並列關鍵字

Hysteresis Nonlinearity ； Haar Wavelet Functional Approximation Technique ； Piezo-Actuating X-Y Table