中文摘要：

研究了一种内嵌超磁致伸缩执行器（GMA）的智能镗削装置,针对GMA迟滞非线性,给出了一种基于复合前馈补偿的精密伺服控制方法。简要介绍了经典Preisach迟滞数值模型的实现方法,给出了一种基于迭代的迟滞非线性补偿方法以避免直接求取Preisach逆模型。讨论了迭代算法的实现步骤,验证了算法的可行性。分析了异圆销孔的镗削加工特点,在迭代补偿的基础上设计了重复控制补偿器,并结合两种补偿方法,给出了一种基于复合前馈补偿的PID控制方法,最后通过实验检验了方法的有效性。实验结果表明：在开环情况下,所给的迭代算法可以将GMA的迟滞非线性由补偿前的-15.7%～＋11.8%减小到-4.6%～＋5.2%,而基于复合前馈补偿的PID控制则可将误差进一步减小到±1μm以内。实验表明,迭代补偿算法是有效的,该算法在补偿迟滞非线性的同时可避免直接求取Preisach逆模型,而基于复合前馈补偿的PID控制方法还可进一步提高GMA的控制精度。

英文摘要：

A Giant Magnetostrictive Actuator（GMA） driven mechanism for piston noncircular pin hole boring is presented. In order to attain desired radial displacement of the boring bar accurately, a compounding feedforward compensation method is proposed. The classical Preisach model for the hysteresis of GMA is introduced briefly, and a novel iterative compensation algorithm is proposed to avoid calculating Preisach converse model directly. Then the implement procedure of the iterative algorithm is discussed and the block diagram is given. A good linearization between the input current of GMA and its hysteresis output is found, the effect of the algorithm is valided by experiment. A repetitive control compensator is designed to improve the control performance of the GMA further, and then a compounding feedforward compensation method is presented based on the two compensators. Experi- ment results show that, at the case of open loop control, the iterative compensation algorithm can reduce the hysteresis nonlinearization of GMA from -15.7%～＋11.8% to -4.6%～＋5.2%, and the PID control based on compounding feedforward compensation can reduce the tracking error of GMA to 1 μm. These conclusions indicate that the iterative compensation algorithm is effective, it can avoid calculating the Preisach converse model directly and the PID control based on compounding feedforward compensation Can improve the control performance of GMA further.