壓電平台遲滯模型

Abstract

本論文之主要目的在於修改Maxwell slip model成為一套改良型Maxwell彈滑模型，然後利用此一改良型Maxwell彈滑模型模擬壓電平台固有的響應遲滯現象(Hysteresis)。本論文並將改良型Maxwell彈滑元件參數求解問題，簡化成為一個參數鑑別的最佳化問題。利用遞迴最小平方和誤差法（Recursive least-squares algorithm），即時求取彈滑模型之參數，使得彈滑元件所描繪的線段與壓電平台響應曲線之間的平方誤差和最小，作為將來設計前饋補償控制器的依據。 實驗結果證明，利用遞迴最小平方和誤差法可以即時且有效地求取彈滑模型之參數，使得由改良型Maxwell彈滑元件所組合的線段趨近於壓電平台的響應曲線。

This paper presents an improved Maxwell Slip Model, and also presents a procedure for real time on-line identification of hysteresis functions, which are encountered in Piezoelectric actuators. This paper shows that the on-line identification of hysteresis functions boils down to a well understood recursive least squares estimation problem if the hysteresis function is modeled as a weighted superposition of extended linear stop operators with fixed parameters. Experiment results show that this technique has been successfully applied to model the hysteresis behaviour of a piezoelectric actuator.