压电粘滑驱动的回退抑制及切换控制研究

Backward Inhibition and Switching Control for Piezoelectric Stick-Slip Driving

摘要:

针对压电粘滑驱动中的位移回退及“粗-精”切换扰动问题，首先利用拱形驱动单元、柔性调节机构和输出台等构建压电粘滑平台，建立包含电路、机械与摩擦特性的系统动力学模型；然后将驱动单元分为驱动组和防回退组，利用定子配合法实现粘滑位移的回退抑制，同时采用开关自锁逻辑回路与时间标记过渡函数，设计面向 “粗-精”定位的平滑切换控制策略，提高粘滑运动模式切换的稳定性和效率；最后搭建实验测试系统进行验证，结果表明，与传统粘滑驱动相比，定子配合法在 X、Y 方向上的位移回退率从 22. 8%、22. 7% 降至 0. 6%、1. 1%，位移回退得到明显抑制。在切换阈值为 200 μm 时，平滑切换控制策略也能快速准确地实现“粗-精”定位，实验结果验证了回退抑制与切换控制方法的有效性。

Abstract:

To address the problems of displacement backlash and coarse-fine switching disturbances in piezoelectric stick-slip driving， a piezoelectric stick-slip platform is constructed using an arch actuation unit， a flexible adjustment mechanism， and an output stage. A system dynamics model is established that incorporates circuit， mechanical， and friction characteristics. The actuation units are then divided into driving and inhibition groups， and backward inhibition is achieved through a stator cooperation method. Furthermore， a smooth switching control strategy for “coarse-fine” positioning is designed using a switching self-locking logic loop and a time-tagged transition function to enhance the stability and efficiency of stick-slip motion mode switching. Finally， an experimental test system is built for verification. The experimental results show that， compared with conventional stick-slip drive methods， the displacement backward rate of the stator cooperation method in the X/Y directions decreases from 22. 8% / 22. 7% to 0. 6% / 1. 1%， effectively suppressing displacement backlash. When the switching threshold is set to 200 μm， the smooth switching control strategy enables rapid and accurate “coarse-fine” positioning. These results confirm the effectiveness of the proposed regression suppression and switching control method.