为了克服现有双足蝶形直线超声电机驱动的一维平台定位中的摩擦驱动非线性,本文基于电机工作原理和扇形非线性特性建立了电机及平台的模糊Takagi-Sugeno(T-S)模型。基于该T-S模型,采用系统增广的方法设计了无静态误差伺服定位控制算法;设计中考虑了鲁棒H∞性能,使得该非线性系统的模糊控制器具有较好干扰抑制性能和鲁棒性。采用嵌入式微控制器实现了所设计的控制算法,并进行了不同步进值的伺服定位控制实验。实验结果显示,在不同步进值下系统的超调量小于4%;在空载和带载荷的状态下对伺服定位控制实验数据的对比显示,系统最大超调量小于5%。与传统PID控制算法相比,本文提出的控制系统具有较高的定位精度,良好的运动平稳性和鲁棒性。

To overcome friction drive nonlinear from the one-dimensional platform position driven by a butterfly-shaped linear ultrasonic motor, the fuzzy Takagi-Sugeno (T-S) models for the motor and the platform were established based on the working principle of a motor and the sector nonlinearity. Based on the T-S models, the servo positioning control algorithm without steady-state errors was designed by using augmented method. As the robust H∞ was considered, a disturbance rejection controller design for the T-S fuzzy models was presented. The designed control algorithm was realized on an embedded micro-controller. Experiments with different values of the stepper servo positioning were carried out. The experimental results show that the overshoot of the system in different step values is less than 4%. The experimental comparison of servo positioning control between the no-load and load conditions indicates that the system maximum overshoot is less than 5%. As compared with traditional PID control, the control system proposed in this paper gives higher positioning accuracy, good stability and an excellent robust.