中文摘要：

针对压电驱动器的伺服控制问题．提出了一种基于生物免疫反馈调节规律的PID控制算法；对于具有非线性滞环特性的压电驱动器，采用线性PID控制器难以达到理想的控制效果；如果借助于生物免疫反馈调节规律来自动整定PID控制器的参数，就有可能使压电驱动器的阶跃响应无振荡现象发生并具有较好的鲁棒性；试验结果表明，与传统的压电驱动器PID控制系统比较，应用免疫PID控制算法可以使伺服系统获得更好的动态特性。

英文摘要：

A PID control algorithm of a piezoelectric actuator using an immune feedback law is presented. The linear PID controller may not perform well in the case where nonlinear hysteresis is found in the piezoelectric actuator. In the proposed method, because the immune feedback law changes the tuning PID controller parameters adaptively, it is expected that the dynamic performance such as dead--beat and anti--disturbance ability are attainable. Simulation results show that the immune PID control algorithm can perform better than conventional PID controller for the nonlinear piezoelectric actuator.