15612

1582 دكتري

دكتري

كنترل

اصفهان : دانشگاه صنعتي اصفهان

1398

سيزده، 109ص.: مصور، جدول

فريد شيخ الاسلام، ايمان ايزدي

محسن اكراميان

محمدجواد يزدان پناه، جعفر قيصري، مرضيه كمالي

1399/04/16

كتابنامه

مهندسي برق

مهندسي برق و كامپيوتر

1399/04/16

2618609

Sliding Mode Control Based on Hysteresis Observer for Piezoelectric Actuators Sayed Fakhreddin Alem s alem@ec iut ac ir January 2020 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree Ph D Language FarsiSupervisor Prof Farid Sheikholeslam sheikh@cc iut ac ir Supervisor Assoc Prof Iman Izadi iman izadi@cc iut ac ir Advisor Assis Prof Mohsen Ekramian m ekramian@eng ui ac ir Abstract In the last two decades industrial and research applications which needed to high precision positioning have grownrapidly and widely Piezoelectric actuator is one of the most useful choices in this field Despite the high resolution linearand nonlinear dynamics of this actuator such as hysteresis could decrease the closed loop control system performance Hence very diverse research has been done about the modeling and control of it The purpose of this study is hysteresiscompensation and precise position control of this actuator The Bouc Wen model and sliding mode control method are usedfor this goal Most of the similar studies consider the hysteresis as an uncertainty or disturbance This leads to a conservativecontroller and decrease in control system performance The main innovation of this study is hysteresis compensation usingits momentary value and closed loop system stability analysis The hysteresis is an internal state of system and is notmeasurable In this thesis for hysteresis observation the high gain observer is proposed and designed firstly Also theobserver based controller and joint stability analysis are presented For situation where the mass stiffness and dampingcoefficient of the model are unknown the control rule using the parameter adaptation is presented and its effectiveness isshown For robustness against the unstructured uncertainty sliding mode observer and controller are proposed and stabilityis proven The sign function in sliding mode control could lead to chattering in actuator output and control signal Thisphenomenon reduces the response quality and might result in failure of mechanical parts Whereas using the functions suchas saturation could reduce this problem but it does not fundamentlly resolve it Chattering is completely eliminated bythe presented method One of the problems of sliding mode control is the large control gain due to stability requirements which leads to performance loss For preventing this problem the gain is adaptively estimated proportional to the closed loop system error In summary hysteresis compensation using its momentary value joint stability analysis of observer based controller robustness against the structured and unstructured uncertainty chattering elimination and adaptation ofthe controller gain are the advantages of the presented methods The proposed methods are validated using simulation andexperimental results The experimental tests are done using the real actuator laboratory setup and LabVIEW software Also the results are compared to other methods using quantitative criteria Key Words 1 Piezoelectric actuator 2 Hysteresis phenomenon 3 Observer based controller 4 Joint stability proof 5 Chattering 6 Sliding mode control

فريد شيخ الاسلام، ايمان ايزدي

محسن اكراميان

محمدجواد يزدان پناه، جعفر قيصري، مرضيه كمالي