Kalman filter based output feedback predictive control for piezoelectric ceramic actuators

Shuyou YU; Li TAN; Jianpu LI; Yangyang FENG; Dongmei LIU; Baojun LIN; Shaoyu SUN

doi:10.37188/OPE.20243211.1724

Optics and Precision Engineering, Volume. 32, Issue 11, 1724(2024)

Kalman filter based output feedback predictive control for piezoelectric ceramic actuators

Shuyou YU1...2, Li TAN1,3, Jianpu LI1, Yangyang FENG1, Dongmei LIU3, Baojun LIN1 and Shaoyu SUN1,* |Show fewer author(s)

Author Affiliations

¹Department of Control Science and Engineering， Jilin University， Changchun3002， China

²Key Laboratory of Industrial Internet of Things and Networked Control， Ministry of Education， Chongqing University of Posts and Telecommunications， Chongqing400065， China

³College of Electronic and Information Engineering， Changchun University， Changchun10022， China

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Figures & Tables(12)

Fig. 1. Block diagram of Hammmerstein model

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Fig. 2. Block diagram for tracking control of piezoelectric ceramic actuators

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Fig. 3. Hysteresis compensation with inverse hysteresis model

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Fig. 4. Experimental platform of P11.X100S type piezoelectric actuator

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Fig. 5. Flow chart of piezoelectric signal processing

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Fig. 6. Flow chart of differential evolution algorithm

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Fig. 7. Validation result of Hammerstein model

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Fig. 8. Evolutions of displacement and error at different frenquencies

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Table 1. Parameters indentification result of asymmetric Bouc-Wen model
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Table 1. Parameters indentification result of asymmetric Bouc-Wen model
Parameter Value
d_r 1.128 6
α 0.334 4
β 0.913 2
ϕ -0.143 3
φ -0.040 4

Table 2. Model validation result
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Table 2. Model validation result
Frequency/Hz RMSE RE
10 0.445 7 0.015 2
30 0.732 7 0.024 1
50 0.814 3 0.037 2

Table 3. Parameters of controller
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Table 3. Parameters of controller
Device Parameter value
Filter $\begin{array}{l} Q = [\begin{matrix} 3 * 10^{4} & 0 \\ 0 & 3 * 10^{4} \end{matrix}] \\ R = 0.5 * 10^{10} \end{array}$
Predictive controller $\begin{array}{l} p = 8, m = 8 \\ Γ_{y} = 10 * e y e (8), Γ_{u} = e y e (8) \end{array}$

Table 4. Values of RMSE and RE of different controllers
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Table 4. Values of RMSE and RE of different controllers
Frequency/Hz ESO-FOMSMC-RMSE OFMPC-RMSE OFMPC-RE
$y_{r}^{10}$ 0.109 9 0.153 2 0.006 3
$y_{r}^{30}$ 0.285 5 0.165 0 0.006 7
$y_{r}^{50}$ 0.532 9 0.167 5 0.006 8
$y_{r}^{c}$ 0.227 1 0.151 2 0.005 8
$y_{r t}^{10}$ — 0.153 9 0.006 3
$y_{r t}^{50}$ — 0.174 6 0.007 0

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Shuyou YU, Li TAN, Jianpu LI, Yangyang FENG, Dongmei LIU, Baojun LIN, Shaoyu SUN. Kalman filter based output feedback predictive control for piezoelectric ceramic actuators[J]. Optics and Precision Engineering, 2024, 32(11): 1724

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