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中文摘要：
利用Hammerstein模型对超磁致伸缩作动器（Giantmagnetostrictiveactuators，GMA）的率相关迟滞非线性进行建模，分别以改进的Prandtl—Ishlinskii（ModifiedPrandtl—Ishlinskii）模型和外因输入自回归模型（Autoregressivemodelwithexogenousinput，ARX）代表Hammerstein模型中的静态非线性部分和线性动态部分，并给出了模型的辨识方法．此模型能在1-100Hz频率范围内较好地描述GMA的率相关迟滞非线性．提出了带有逆补偿器和H∞鲁棒控制器的二自由度跟踪控制策略，实时跟踪控制实验结果证明了所提策略的有效性．
英文摘要：
A Hammerstein model is proposed to model the rate-dependent hysteresis nonlinearity of giant magnetostric- tive actuators （GMA）. A modified Prandtl-Ishlinskii （MPI） model and an autoregressive model with exogenous input （ARX） are used to represent the static nonlinear part and the linear dynamic part of the Hammerstein model, respec- tively. A model identification method is also given. The proposed model can describe the rate-dependent hysteresis of GMA from 1 Hz to 100 Hz well. A two DOF control system with an inverse compensator and an H∞ robust controller is designed for tracking control. Real-time trajectory tracking control results show that the proposed strategy is effective.
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