1、附二/外文翻译HighPreciseControlMethodforaNewTypeofPiezoelectricElectrohydraulicServoValveAbstract：Anewtypeofpiezoelectricelectro-hydraulicservovalvesystemwasproposedAndthenmultilayerpiezoelectricactuatorbasedonnewpiezoelectricceramicmaterialwasusedastheelectricity-machineconverteroftheproposedpiezoelectri
2、celectro-hydraulicservovalve/Theproposedpiezoelectricelectro-hydraulicservovalvehasascendantperformancecomparedwithconventionalones/Butthesystemisofhighnonlinearityanduncertainty/itcannotachievefavorablecontrolperformancebyconventionalcontrolmethodTodevelopanefficientwaytocontrolpiezoelectricelectro
3、hydraulicservovalvesystemAhighprecisefuzzycontrolmethodwithhysteresisnonlinearmodelinfeedforwardloopwasproposed/Thecontrolmethodisseparatedintotwoparts：afeedforwardloopwithPreisachhysteresisnonlinearmodelandafeedbackloopwithhigh-precisefuzzycontro1/Experimentalresultsshowthatthehysteresisloopandthem
4、aximumoutputhysteresisbythePIDcontrolmethodare4/22and211pm/respectively；thehysteresisloopandthemaximumoutputhysteresisbytheproposedcontrolmethodrespectivelyare074and037m，respectively；themaximumtrackingerrorbythePIDcontrolmethodforsinewavereferencesignalisabout502/themaximumtrackingerrorbytheproposed
5、controlmethodforsinewavereferencesignalisabout085contro1Keywords：piezoelectricelectrohydraulicservovalve；hysteresisnonlinearity；Preisachmodel；fuzzycontrol1IntroductionElectrohydraulicservosystemiswidelyappliedinindustrialdomainnowadaysforexamplerobotdrive，machinebuilding/architecturalengineeringThee
6、lectro-hydraulicservovalveisthekerneloftheelectro-hydraulicservosystem/anditsperformancehasdecisiveeffectOfthewholesystemTheconventionaldrivemodeofelectrohydraulicservovalvehaslowerresolutionandnarrowerworkbandwidth，whichrestrictstheapplicationsoftheelectro-hydraulicservovalveTheproposedpiezoelectri
7、celectro-hydraulicservovalveadoptsmultilayerpiezoelectricactuatoraselectricity-machineconverter/ThisHewtypeofpiezoelectricelectro-hydraulicservovalvehasbetterdynamicperformancethanthatofconventionalonesAtpresent，withtheresearchandthedevelopmentofnew-typeactuatorbasedonnewtypematerials/itispossibleto
8、makethenewelectricity-machineconverterwithhighfrequency/Newmaterialsincludepiezoelectricceramicmaterials/magnetostrjctivematerials/shapememoryalloysThereinto/multilayerpiezoelectricactuatorsbasedonnewpiezoelectricceramicmaterialshavemanymeritssuchassmallcubage，highresolution，highfrequencyandlargedri
9、veforceHence，theyarewidelyusedinthemicro-positiondeviceofmachinetoolsandotherprecisionmachines1-6However/theyalsohavemanyshortcomings，for毕业设计（论文）第页1example，hysteresisnonlinearitymodelinfeedforwardloopwasproposed2Workprincipleandcharacteristicofnew-typeofpiezoelectricelectro-hydraulicValveBecausethep
10、ullingforcecapacityofmultilayerpiezoelectricactuatorisverypoor/itcannotmaketheslidevalveoftheelectro/hydraulicservovalvebidirectionallvmove/Twomultilayerpiezoelectricactuatorswereadoptedtosolvethisproblem7-8/Theshortcomingofthismethodishighcostandsystemisdifficulttocontro1/Utilizingtherestoringforce
11、ofaleafspring，onemultilayerpiezoelectricactuatorcanrealizebidirectionalmovementoftheslidevalveinthispaper/Whenthevoltageimposedonmultilayerpiezoelectricactuator1sincreased，multilayerpiezoelectricactuatorwillelongateanddrivetheslidevalvetomovetowardstheleft，whichmakestheleafspringdeformOnthecontrary/
12、whenthevoltageimposedonmultilayerpiezoelectricactuatorisreduced，multilayerpiezoelectricactuatorwillbeshortenedandthendrivetheslidevalvemovetowardstherightbytheactionoftherestoringforceoftheleafspring/ThestructureofnewtypeofpiezoelectricelectrohydraulicservovalveisshowninFig1Theinput-outputcharacteri
13、sticofthenewtypeofpiezoelectricelectro-hydraulicservovalvesystemindicatesthatithashysteresisnonlinearitywithnonloca1memory(seeFig2)/AtanyreachablepointL(Ua，Ya)ininput-outputdiagram，thenumberofalternativecurvethatdescribesthefuturepathofhysteresisnonlinearitywithnonloca1memoryisinfinite/Namely/thefut
14、ureoutputofthesystemdependsnotonlyonthecurrentoutputYaandfutureinput，butalsoonthepasthistoryofinputvaluesextremum/Hence/theoutputresponseofnewtypeofpiezoelectricelectro-hydraulicservovalvetoanappliedinputvoltagebecomesunpredictable/Inthesystem，thereexistothernonlinearitiessuchasforceoffrictionandwor
15、kdeadzoneofvalve/furthermore，dampingcoefficientandoiltemperaturearealsochangedwithtimeThenonlinearityanduncertaintyhaveseriouslyeffectsonthepositionprecision/Toimprovetheperformanceofthenewtypeofpiezoelectricelectro-hydraulicservovalvesystem/avalidcontrolmethodisneeded3ControlalgorithmAtpresent/conv
16、entionalPIDcontrolleriswidelyappliedinindustrialcontroldomainbecauseofitssimplecontrolstructure/easydesignandinexpensivecostHowever/conventionalPIDcontrollerisdifficulttoachievegoodcontrolperformanceinthenewtypeofpiezoelectricelectro/hydraulicservovalvesystembecausethecontrolobjecthashigh毕业设计（论文）第页2
17、nonlinearityanduncertaintyFuzzycontrollershowsgoodresultsinthecaseofcontrollinghighnonlinearsystems/However/conventionalfuzzycontrollerisessentiallyakindofnonlinearPDcontroller/thereexistssteadystateerror/whichcannotmeetthedemandofhighpreciseofthesystemInthispaper/ahigh-precisefuzzycontrolalgorithmw
18、ithPreisachhysteresisnonlinearmodelinfeedforwardloopwasproposedTheblockdiagramofthecombinedcontrolisshowninFig3ThecontrolsystemiscomposedofafeedforwardloopbasedonPreisachmodelandafeedbackloopofhighprecisefuzzycontrollerUl(istheoutputoffeedforwardloopbasedonPreisachmode1Asalinearterm/itisselectedfrom
19、aPreisachfunctiontablebasedonthegivenpositionvalueU2(istheoutputofthehighprecisefuzzycontrollerThesumU(t)offeedforwardcontrolvoltagefandfeedbackcontrolvoltageU2(t)，asultimatecontrolvoltage，isactedonnewtypepiezoelectricelectro-hydraulicservovalve/31FeedforwardloopbasedonPreisachmodelTheopenlooprespon
20、seofthenewtypepiezoelectricelectro-hydraulicservovalvesystemunderanarbitraryandnon-cyclicinputsignalisshowninFig2Thisphenomenonappearsashysteresisnonlinearitywithnonlocalmemory/whichcanbepredictedbyPreisachmode1ThenumericalformofPreisachmodelcanbewrittenasfoliows：ddtuutfS)()/()(1)Eqn/(1)canbeusedtoc
21、alculatetheresponseofthenewtypeofpiezoelectricelectro-hydraulicservovalvesubjecttoaknownarbitraryinputvoltagesequenceAseriesoffirstorderfunctionskkrofthenewtypeofpiezoelectricelectro-hydraulicservovalveareexperimentallydeterminedTheprocedureisasfollowsThespacebetweenzeroandsaturationvoltageUsisdivid
22、edintonequipartitions/andthevoltageofeveryequantpointiskUsn，wherek=-0，1，2，nVoltageisappliedfromzerotoeveryequantpointkUsn，andthendecreasedtozeroInthisprocess，thepositionoutputvaluesofthenewtypeofpiezoelectricelectro-hydraulicservovalvearerecordedateveryequantpointbetweenzeroandsaturationvoltageUs，th
23、erewith，kkrandthePreisachfunctiontableareobtained(seeFig4)，毕业设计（论文）第页3ddtuddutfStu)()/()(（2）Basedonthedrivervoltagerangeofthenewtypeofpiezoelectricelectrohydraulicservovalve，thecoordinatespaceisselectedas0Ul50Vand0U150VFromFig4，thelimittriangleisdividedintoseveralsquaresandtrianglesDecreasingthesize
24、ofthesquaresandtrianglesisexpectedtoincreasetheaccuracyofthemode1/however/itwillspendmassivecomputationaltimeBasedontheexperiments/nisselectedas5，namely/thesizeofeachofsidesofthesquaresandtrianglesisselectedas30V/BasedonthegivenpositionvalueandthenumericalformofthePreisachmodel，1)(nUtUor)(tUncanbeob
25、tainedThereby/basedonPreisachfunctiontable，thecontrolvoltageUl(t)isobtainedwhen1nUliesontheverticallineorUliesonthehorizontallineFortheinexistencevoltageinthePreisachfunctiontableitcanbeobtainedbythelinearinterpolationIncomparisontoaconventionalfeedbackcontroller/themainadvantageofthismode1-basedfee
26、dforwardcontrolleristhatitcancompensatethehysteresisnonlinearityofthesystemandachievehighlydynamicoperationatthesametime/andnoadditionalsensorisneededThisleadstoaverysimpleandinexpensivecontrolsystemThemaindrawbackofthefeedforwardcontrollerissensitivetounmodeldataandunconsideredexternaldisturbancess
27、uchastemperaturedriftForanewtypeofpiezoelectricelectrohydraulicservovalvesystemthatneedshighcontrolprecisionmode1basedfeedforwardcontrollercannotobtaingoodcontroleffectThenacompoundcontrolmethodwithfeedforwardandfeedbackcontrolprojectwasproposedinthispape/Inthefeedbackcontrolloop，ahighprecisefuzzyco
28、ntrolalgorithmwasadoptedThemethodcanobtaingoodperformance32HighprecisefuzzycontrolConventionalfuzzycontrollerhastwoinputvariables，eande，andoneoutputvariable（U），theyareerror/changeoferrorandoutputcontroloffuzzycontrollerInthenewtypeofpiezoelectricelectro-hydraulicservovalvesystem，thephysicalrangeoftheslidevalvepositionerror(andchangeoferror(e)are-x，xand-x，x，respectivelyThecorrespondingdiscreteuniversesofdiscourseofe，eanduareE，ECandUrespectivelyE/ECandUaredesignedasnormalizedform：
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