In order to improve the control precision of the piezoceramic actuator in precision position system, a dynamic modeling of Ultra-precision Positioning System is proposed.A two-step identification strategy is adopted in this paper.Step 1: The linear model was identified based on step input response by least square method.Step 2: According to the step.1 result, the designed nonlinear observer was applied to estimate the output of hysteresis by Fast Tracking Differentiator.The polynomials are used consistently approximate continuous functions of f(.) and g(.) in the Duhem modeling based on the theorem of the Weierstrass polynomial approximation theory.Recursive least square methods are developed to identify α and the coefficients of the polynomials in Duhem model.At last, the simulation results show applicability, rapid convergence velocity and high calculation accuracy of the algorithm.
Duhem model Weierstrass polynomial approximation Recursive least square Dynamic Hysteresis Modeling Fast Tracking Differentiator
Chen Hui Zhou Xing-peng Tan Yong-hong Li Ru-qiong Zhang Ya-hong Dong Rui-li
School of Automation,Southeast University,Nanjing 210096,China;School of Electronic Engineering & Au School of Automation,Southeast University,Nanjing 210096,China College of Information,Mechanical and Electrical Engineering,Shanghai Normal University,Shanghai 200 Department of Computer Science and Technology,Guilin College of Aerospace Technology,Guilin,541004,C