CN109557816B - Method, system and medium for suppressing hysteresis characteristic of piezoelectric ceramic actuator - Google Patents

Abstract

The invention relates to a method, system and medium for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator. The method includes obtaining an output displacement generated by a piezoelectric ceramic actuator under an input voltage, and establishing a hysteresis model according to the output displacement and the input voltage; The parameters of the model are identified to obtain the target hysteresis model; the fractional-order sliding mode controller is designed according to the target hysteresis model, and the fractional-order sliding mode controller is used to control the piezoelectric ceramic actuator. The invention describes the hysteresis characteristic by the relationship between the output displacement and the input voltage, can better describe the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator, controls the piezoelectric ceramic actuator by a fractional-order sliding mode controller, and better suppresses sliding The jitter problem of the die surface, and the calculation process is small and the calculation difficulty is low, the real-time control of the piezoelectric ceramic actuator can be guaranteed to a large extent, the control effect is better, and the piezoelectric ceramic actuator can be more effectively inhibited from working. Hysteresis characteristics in the process.

Description

Method, system and medium for suppressing hysteresis characteristic of piezoelectric ceramic actuator

technical field

The invention relates to the technical field of electromechanical control, in particular to a method, system and medium for suppressing hysteresis characteristics of a piezoelectric ceramic actuator.

Background technique

Piezoelectric ceramic actuators have the advantages of small size, high energy density, high positioning accuracy, high resolution, and fast frequency response. .

For example, flexible electronics need to realize large-area integration of nano-featured micro-nano-structured macroscopic devices on flexible substrates of any shape. The manufacturing process involves precise functional interfaces of polymers, metals, non-metals, nanomaterials and other materials with different physical properties. formation, which poses a great challenge to the drive, positioning and motion control performance of manufacturing equipment. Therefore, sub-micron precise positioning and motion control technology at the micro-scale has become a necessary means.

Piezoelectric ceramic actuators use piezoelectric materials to generate inverse piezoelectric effect or electrostrictive effect in an electric field, directly convert electrical energy into mechanical energy to generate tiny displacements, and use displacement amplification mechanisms (such as flexible dumpling chains, etc.) to achieve high Precision actuators with high resolution displacement output. However, as a polar material, the inherent nonlinear characteristics of piezoelectric ceramics, such as hysteresis, temperature, creep and dynamic frequency characteristics, especially the hysteresis characteristics, directly affect the motion performance of the system, which can be used for cross-scale printing manufacturing. Precise positioning and tracking in the

At present, there are many suppression methods for the hysteresis characteristics, such as the fuzzy PID control method based on the tracking of the hysteresis model. This method first obtains the hysteresis model of the piezoelectric ceramic actuator through modeling, and then uses the hysteresis model to design the corresponding PID control method. The controller also uses fuzzy control rules to realize the design of proportional constant k _p , integral constant k _i and differential constant k _d in the PID controller to compensate the output displacement of the piezoelectric ceramic actuator, but the current method has the following shortcomings:

1. The hysteresis model is an ideal physical model and there are model errors, and the fitting degree with the hysteresis characteristics is not high enough;

2. The hysteresis model needs to identify many parameters, the identification process is more complicated, and the effect is not good;

3. Because the setting of the fuzzy rules makes the calculation process more complicated, the calculation difficulty is higher, the real-time performance is poor, and the inhibition effect of the hysteresis characteristic is general. ,

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a method, system and medium for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator in view of the above-mentioned deficiencies of the prior art.

The technical scheme that the present invention solves the above-mentioned technical problems is as follows:

A method for suppressing hysteresis characteristics of a piezoelectric ceramic actuator, comprising the following steps:

Step 1: obtain the output displacement generated by the piezoelectric ceramic actuator under the input voltage, and establish a hysteresis model according to the output displacement and the input voltage;

Step 2: performing parameter identification on the hysteresis model to obtain a target hysteresis model;

Step 3: Design a fractional-order sliding mode controller according to the target hysteresis model, and use the fractional-order sliding mode controller to control the piezoelectric ceramic actuator.

The beneficial effects of the invention are as follows: since the hysteresis characteristic of the piezoelectric ceramic actuator is directly reflected as the output displacement under the input voltage, the hysteresis model is established by the output displacement and the input voltage, and the hysteresis characteristic is described by the relationship between the output displacement and the input voltage, It can better describe the relationship between the hysteresis characteristics and the piezoelectric ceramic actuator, and it is convenient to obtain a control signal that suppresses the hysteresis characteristics according to the relationship between the two, so that the fractional-order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal; due to the hysteresis There are model errors in the model, and there are multiple parameters. Through parameter identification of the hysteresis model, a target hysteresis model with higher accuracy can be obtained, so that the target hysteresis model has a higher degree of fit with the hysteresis characteristics, and is more accurate in describing the hysteresis characteristics. Therefore, a more accurate fractional-order sliding mode controller is designed according to the high-precision target hysteresis model. Compared with the traditional controller, the fractional-order sliding mode controller can better suppress the jitter problem of the sliding mode surface, and the calculation process Less and less difficult to calculate, it can ensure the real-time control of piezoelectric ceramic actuators to a large extent, the control effect is better, and the hysteresis characteristics of piezoelectric ceramic actuators in the working process can be suppressed more effectively, and the hysteresis characteristics can be avoided. It affects the precise positioning, tracking and motion control of manufacturing equipment, and improves the work efficiency and product quality of precision manufacturing.

On the basis of above-mentioned technical scheme, the present invention can also do following improvement:

Further: the step 1 specifically adopts a modeling method based on a mass-spring-damping mathematical and physical model to establish the hysteresis model.

The beneficial effect of the above-mentioned further scheme is that the hysteresis model is established by the modeling method based on the mass-spring-damping mathematical and physical model, which can better describe the relationship between the hysteresis characteristics of the piezoelectric ceramic and the piezoelectric ceramic actuator, and the model form is simple. , the method is simple.

Further: the hysteresis model in the step 1 is specifically the Bouc-wen equivalent hysteresis model, and the specific formula of the Bouc-wen equivalent hysteresis model is:

y(t)=k ₁ u(t)+k ₂ h(t)

为所述迟滞分量对时间的一阶导数，D₀、A、β、γ和n均为反映迟滞特性的模型参数，

为所述输入电压对时间的一阶导数，α为权重系数，k_s为所述压电陶瓷执行器的第一等效刚度系数，k为反映所述迟滞特性的第二等效刚度系数，k₁和k₂均为根据α、D₀、k和k_s所得的第一简记系数。where y(t) is the output displacement, u(t) is the input voltage, h(t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,

is the first derivative of the hysteresis component with respect to time, D ₀ , A, β, γ and n are all model parameters reflecting the hysteresis characteristics,

is the first derivative of the input voltage with respect to time, α is the weight coefficient, k _s is the first equivalent stiffness coefficient of the piezoelectric ceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, Both k ₁ and k ₂ are first shorthand coefficients obtained from α, D ₀ , k and k _s .

The beneficial effect of the above-mentioned further scheme is: because the Bouc-wen equivalent hysteresis model can describe most hysteresis systems, and has a good degree of fit with the hysteresis characteristics in the actual motion process, the mass-spring-damping mathematical and physical model is adopted. To obtain the Bouc-wen equivalent hysteresis model, which can better describe the hysteresis characteristics, and the above Bouc-wen equivalent hysteresis model is simplified compared with the traditional Bouc-wen model, making the model simpler, so that the subsequent The parameters in the model are identified to obtain the target hysteresis model with higher accuracy;

Among them, the second equivalent stiffness coefficient k>0 reflecting the hysteresis characteristics, the weight coefficient 0<α<1; D ₀ , A, β, γ and n are all model parameters reflecting the hysteresis characteristics, D ₀ , A, β and γ specifically control the shape of the hysteresis characteristic curve, and n mainly controls the smoothness of the hysteresis characteristic curve. When other parameters are fixed, the larger A is, the wider the shape of the hysteresis characteristic curve will be, and the curve will be deflected counterclockwise; the larger the n, the wider the shape of the hysteresis characteristic curve. The smoother the curve; the size of β will change the width and flatness of the hysteresis characteristic curve, and also change the deflection of the curve; γ will also deflect the curve _;

Further: in the step 1, it also includes modifying the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model, and the specific formula of the modified Bouc-wen model is:

y ₁ (t)=k ₁ u(t)+k ₂ h ₁ (t)+d

为相位差值，

为所述修正迟滞分量对时间的一阶导数，

为所述修正输入电压对时间的一阶导数。Among them, y ₁ (t) is the corrected output displacement, u ₁ (t) is the corrected input voltage, h ₁ (t) is the corrected hysteresis component of the corrected Bouc-wen model, d is the corrected hysteresis component difference,

is the phase difference value,

is the first derivative of the modified hysteresis component with respect to time,

is the first derivative of the corrected input voltage with respect to time.

(即相位差值)，来对Bouc-wen等效迟滞模型进行修正，可以进一步提高修正Bouc-wen模型在描述迟滞特性上的精度。The beneficial effect of the above-mentioned further scheme is: because the Bouc-wen equivalent hysteresis model itself is an ideal model, which deviates from the hysteresis behavior in the actual motion process, the deviation d from the initial position in the Bouc-wen equivalent hysteresis model (that is, is introduced) is introduced. Correction hysteresis component difference) and deviation from initial phase

(that is, the phase difference value), to modify the Bouc-wen equivalent hysteresis model, which can further improve the accuracy of the modified Bouc-wen model in describing the hysteresis characteristics.

Further: in the step 2, the differential evolution method is specifically used to identify the parameters of the modified Bouc-wen model to obtain the target hysteresis model.

The beneficial effect of the above-mentioned further scheme is that the parameter identification by the differential evolution method can greatly improve the accuracy of the relevant parameters in the revised Bouc-wen model. In terms of the higher fitting degree with the experimental data, it is convenient to apply the modified Bouc-wen model in the fractional-order sliding mode controller to describe the hysteresis characteristics of piezoelectric ceramics, so as to effectively suppress the hysteresis characteristics.

Further: the step 3 specifically includes the following steps:

Step 31: Determine the sliding mode surface of the fractional-order sliding mode controller according to the displacement error between the corrected output displacement in the target hysteresis model and a preset reference displacement;

The sliding surface is:

e=y ₁ -y _d ;

Wherein, s is the sliding mode surface, e is the displacement error, y ₁ is the value of the corrected output displacement, y _d is the reference displacement, and c ₀ is the proportional parameter of the fractional sliding mode controller And c ₀ >0, D is a fractional order operation, and λ is the order of the fractional order;

Step 32: Determine the control law of the fractional sliding mode controller according to the sliding mode surface, and obtain the fractional sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model control signal;

The control law is:

为所述滑模面的一阶导数，k₀为指数趋近项系数，ε为趋近速度，sgn(·)为开关函数；in,

is the first derivative of the sliding mode surface, k ₀ is the exponential approach term coefficient, ε is the approach speed, and sgn( ) is the switching function;

The specific formula of the control signal is:

k ₃ =αk,k ₄ =D ₀ k(1-α)

Wherein, u _c (t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical-physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical-physical model, k ₃ and k ₄ are the second shorthand coefficients obtained according to k ₁ and k ₂ ;

Step 33: Control the piezoelectric ceramic actuator according to the control signal.

The beneficial effect of the above-mentioned further scheme is: according to the differential evolution method, the parameter accuracy of the revised Bouc-wen model is improved, and the revised output displacement is obtained according to the revised Bouc-wen model after the improved accuracy (ie, the target hysteresis model), and the revised output displacement is obtained. The displacement error between the reference displacement and the reference displacement is used as the main variable of the sliding mode surface of the fractional sliding mode controller, and the corresponding control law is determined according to the sliding mode surface. Compared with the traditional sliding mode controller, it can better suppress the sliding mode. The jitter problem of the die surface ensures that the corrected output displacement can better track the reference displacement in real time, thereby effectively suppressing the hysteresis characteristics, and the calculation process is less and the difficulty is low, which can largely ensure the positioning control based on the piezoelectric ceramic actuator. Real-time, good control effect;

Among them, the order λ of the fractional order generally takes a value between (0, 1], and λ=1 means a traditional sliding mode controller.

According to another aspect of the present invention, a system for suppressing hysteresis characteristics of a piezoelectric ceramic actuator is provided, including a power supply module, a sampling module, a processing module and a control module;

The power module is used to provide the input voltage of the piezoelectric ceramic actuator;

The sampling module is used to obtain the output displacement of the piezoelectric ceramic actuator under the input voltage;

The processing module is used for establishing a hysteresis model according to the output displacement and the input voltage, and is also used for parameter identification of the hysteresis model to obtain a target hysteresis model, and is also used for designing a fractional slip according to the target hysteresis model. model controller;

The control module is configured to use the fractional-order sliding mode controller to control the piezoelectric ceramic actuator.

The beneficial effects of the present invention are: the input voltage of the piezoelectric ceramic actuator is provided by the power module, and the output displacement generated under the input voltage is acquired by the acquisition module, because the hysteresis characteristic of the piezoelectric ceramic actuator is directly reflected under the input voltage. Therefore, the processor establishes a hysteresis model through the output displacement and input voltage, and describes the hysteresis characteristics by the relationship between the output displacement and the input voltage, which can better describe the relationship between the hysteresis characteristics and the piezoelectric ceramic actuator. The relationship between the two can obtain the control signal that suppresses the hysteresis characteristic, so that the control module uses the fractional-order sliding mode controller to control the piezoelectric ceramic actuator according to the control signal; because the hysteresis model has model errors and there are multiple parameters, the hysteresis model is processed by the processing module. Parameter identification is performed to obtain a target hysteresis model with higher accuracy, so that the target hysteresis model has a higher degree of fit with the hysteresis characteristics, and is more accurate in describing the hysteresis characteristics, so that the processing module can be designed according to the high-precision target hysteresis model. A more accurate fractional-order sliding mode controller; compared with the traditional controller, the fractional-order sliding mode controller can better suppress the jitter problem of the sliding mode surface, and the calculation process is less and the calculation difficulty is low. To ensure the real-time control of piezoelectric ceramic actuators, the control effect is better, and the hysteresis characteristics of piezoelectric ceramic actuators in the working process can be suppressed more effectively, so as to avoid the hysteresis characteristics affecting the precise positioning, tracking and motion control of manufacturing equipment. Improve work efficiency and product quality in precision manufacturing.

On the basis of above-mentioned technical scheme, the present invention can also do following improvement:

Further: the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the processing module is also specifically configured to correct the Bouc-wen equivalent hysteresis model to obtain a revised Bouc-wen model.

(即相位差值)，来对Bouc-wen等效迟滞模型进行修正，可以进一步提高修正Bouc-wen模型在描述迟滞特性上的精度。The beneficial effect of the above-mentioned further scheme is: because the Bouc-wen equivalent hysteresis model can describe most hysteresis systems, and has a good degree of fit with the hysteresis characteristics in the actual motion process, the mass-spring-damping mathematical and physical model is adopted. To obtain the Bouc-wen equivalent hysteresis model, which can better describe the hysteresis characteristics, and the above Bouc-wen equivalent hysteresis model is simplified compared with the traditional Bouc-wen model, making the model simpler, so that the subsequent The parameters in the model are identified to obtain the target hysteresis model with higher accuracy; because the Bouc-wen equivalent hysteresis model itself is an ideal model, which deviates from the hysteresis behavior in the actual motion process, it is introduced into the Bouc-wen equivalent hysteresis model. Deviation d from the initial position (that is, the difference of the corrected hysteresis component) and deviation from the initial phase

(that is, the phase difference value), to modify the Bouc-wen equivalent hysteresis model, which can further improve the accuracy of the modified Bouc-wen model in describing the hysteresis characteristics.

According to another aspect of the present invention, another system for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator is provided, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein When the computer program runs, the steps in the method for suppressing the hysteresis characteristic of the piezoelectric ceramic actuator of the present invention are realized.

The beneficial effect of the present invention is that the suppression system of the hysteresis characteristic of the piezoelectric ceramic actuator of the present invention is realized by the computer program stored in the memory and running on the processor, and the hysteresis characteristic and the piezoelectric ceramic actuator can be better described. It is convenient to obtain the control signal that suppresses the hysteresis characteristic later, so that the fractional-order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal. Compared with the traditional controller, the fractional-order sliding mode controller can better suppress the sliding mode. In addition to the problem of jitter on the surface, and the calculation process is small and the calculation difficulty is low, the real-time control of the piezoelectric ceramic actuator can be guaranteed to a large extent, the control effect is better, and the piezoelectric ceramic actuator can be more effectively suppressed during the working process. The hysteresis characteristics in the manufacturing equipment can avoid the hysteresis characteristics affecting the precise positioning, tracking and motion control of manufacturing equipment, and improve the work efficiency and product quality of precision manufacturing.

According to another aspect of the present invention, a computer storage medium is provided, the computer storage medium comprising: at least one instruction, when the instruction is executed, a method for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator of the present invention is implemented steps in .

The beneficial effects of the present invention are: by executing the computer storage medium containing at least one instruction, the hysteresis characteristic of the piezoelectric ceramic actuator of the present invention can be suppressed, and the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, which is convenient for subsequent The control signal that suppresses the hysteresis characteristic is obtained, so that the fractional-order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal. Compared with the traditional controller, the fractional-order sliding mode controller can better suppress the jitter of the sliding mode surface, and The calculation process is less and the calculation difficulty is low, which can ensure the real-time control of the piezoelectric ceramic actuator to a large extent, the control effect is better, and the hysteresis characteristics of the piezoelectric ceramic actuator in the working process can be more effectively suppressed, avoiding Hysteresis affects the precise positioning, tracking and motion control of manufacturing equipment, improving work efficiency and product quality in precision manufacturing.

Description of drawings

FIG. 1 is a schematic flow chart 1 of a method for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator according to the present invention;

FIG. 2 is a schematic flow chart 2 of a method for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator according to the present invention;

3 is a schematic structural diagram of a mass-spring-damping mathematical and physical model in Embodiment 1 of the present invention;

Figure 4-1 is a hysteresis diagram describing the input voltage and output displacement by the uncorrected Bouc-Wen equivalent hysteresis model under the 2Hz input voltage signal in the first embodiment of the present invention;

Fig. 4-2 is a hysteresis diagram describing the input voltage and the output displacement by the uncorrected Bouc-Wen equivalent hysteresis model under the 8Hz input voltage signal in the first embodiment of the present invention;

Fig. 5-1 is a hysteresis diagram describing the input voltage and the output displacement by the modified Bouc-Wen model under the 2Hz input voltage signal in the first embodiment of the present invention;

Fig. 5-2 is a hysteresis diagram of the modified Bouc-Wen model describing the input voltage and the output displacement under the 8Hz input voltage signal in the first embodiment of the present invention;

6 is a schematic flowchart of parameter identification using a differential evolution method in Embodiment 1 of the present invention;

7 is a schematic structural diagram of a fractional-order sliding mode controller in Embodiment 1 of the present invention;

8-1 is a tracking waveform diagram of output displacement controlled by a traditional sliding mode controller in Embodiment 1 of the present invention;

8-2 is a tracking waveform diagram of the output displacement controlled by the fractional-order sliding mode controller in the first embodiment of the present invention;

9-1 is a tracking waveform diagram of displacement error controlled by a traditional sliding mode controller in Embodiment 1 of the present invention;

9-2 is a tracking waveform diagram of displacement error controlled by a fractional-order sliding mode controller in Embodiment 1 of the present invention;

10 is a schematic structural diagram of a system for suppressing hysteresis characteristics of a piezoelectric ceramic actuator according to the present invention.

Detailed ways

The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.

The present invention will be described below with reference to the accompanying drawings.

Embodiment 1. As shown in FIG. 1, a method for suppressing the hysteresis characteristic of a piezoelectric ceramic actuator includes the following steps:

S1: obtain the output displacement generated by the piezoelectric ceramic actuator under the input voltage, and establish a hysteresis model according to the output displacement and the input voltage;

S2: Perform parameter identification on the hysteresis model to obtain a target hysteresis model;

S3: Design a fractional-order sliding mode controller according to the target hysteresis model, and use the fractional-order sliding mode controller to control the piezoelectric ceramic actuator.

Since the hysteresis characteristic of the piezoelectric ceramic actuator is directly reflected in the output displacement under the input voltage, the hysteresis model is established by the output displacement and the input voltage, and the hysteresis characteristic is described by the relationship between the output displacement and the input voltage, which can better describe the hysteresis characteristic. The relationship with the piezoelectric ceramic actuator is convenient to obtain the control signal that suppresses the hysteresis characteristic according to the relationship between the two, so that the fractional-order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal; due to the model error of the hysteresis model, and the existence of Multiple parameters, through parameter identification of the hysteresis model, in order to obtain a target hysteresis model with higher accuracy, so that the target hysteresis model and the hysteresis characteristics have a higher degree of fit, and are more accurate in describing the hysteresis characteristics. Compared with the traditional controller, the fractional-order sliding mode controller can better suppress the jitter problem of the sliding mode surface, and the calculation process is less and the calculation difficulty is low, which can To a large extent, the real-time control of the piezoelectric ceramic actuator is guaranteed, and the control effect is better. It can more effectively suppress the hysteresis characteristics of the piezoelectric ceramic actuator during the working process, and avoid the hysteresis characteristics affecting the precise positioning and positioning of the manufacturing equipment. Tracking and motion control to improve work efficiency and product quality in precision manufacturing.

Preferably, as shown in FIG. 2 and FIG. 3 , S1 specifically adopts a modeling method based on a mass-spring-damping mathematical-physical model to establish the hysteresis model.

Preferably, as shown in FIG. 2 , the hysteresis model in S1 is a Bouc-wen equivalent hysteresis model, and the specific formula of the Bouc-wen equivalent hysteresis model is:

y(t)=k ₁ u(t)+k ₂ h(t)

为所述迟滞分量对时间的一阶导数，D₀、A、β、γ和n均为反映迟滞特性的模型参数，

为所述输入电压对时间的一阶导数，α为权重系数，k_s为所述压电陶瓷执行器的第一等效刚度系数，k为反映所述迟滞特性的第二等效刚度系数，k₁和k₂均为根据α、D₀、k和k_s所得的第一简记系数。where y(t) is the output displacement, u(t) is the input voltage, h(t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,

is the first derivative of the hysteresis component with respect to time, D ₀ , A, β, γ and n are all model parameters reflecting the hysteresis characteristics,

is the first derivative of the input voltage with respect to time, α is the weight coefficient, k _s is the first equivalent stiffness coefficient of the piezoelectric ceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, Both k ₁ and k ₂ are first shorthand coefficients obtained from α, D ₀ , k and k _s .

k>0, 0<α<1, D ₀ , A, β, γ and n are all model parameters reflecting the hysteresis characteristics, D ₀ , A, β and γ specifically control the shape of the hysteresis characteristic curve, and n mainly controls the hysteresis characteristics The smoothness of the curve, when other parameters are fixed, the larger A is, the wider the shape of the hysteresis characteristic curve will be, and the curve will be deflected counterclockwise; the larger the n, the smoother the curve; the size of β will change the width and width of the hysteresis characteristic curve. Flat, it will also change the deflection of the curve; γ will also deflect the curve; D ₀ is usually treated as a constant, usually with a value of 1.

The schematic structural diagram of the mass-spring-damping mathematical and physical model used in this embodiment is shown in Figure 3. Under the action of the input voltage u(t), the piezoelectric ceramic actuator stretches, and a force F acts on m, The output displacement y(t) is caused, and its dynamic equation is as follows:

Wherein, m is the equivalent mass of the mass-spring-damping mathematical-physical model, and c is the equivalent damping coefficient of the mass-spring-damping mathematical-physical model.

The input of the mass-spring-damping mathematical and physical model with hysteretic behavior is the input voltage of the piezoelectric ceramic actuator, then the hysteretic output f(t) is equivalent to a function of the input voltage u(t), and the Bouc- Wen model, as follows:

For the convenience of description, the functional expressions in the following formulas are abbreviated, for example, y(t) is represented by y.

Due to the inherent hysteresis characteristics of piezoelectric ceramic materials, there is a hysteretic nonlinear relationship between the output force F and the input voltage u(t). get:

和

作用可忽略不计；且为了后续计算方便，对上述公式进行简化，得到Bouc-Wen等效迟滞模型，如下：In order to prevent vibration and heating, piezoelectric ceramic actuators are generally driven at a lower input voltage frequency, and under low-frequency voltage loading, the dynamic equation

and

The effect can be ignored; and for the convenience of subsequent calculations, the above formula is simplified to obtain the Bouc-Wen equivalent hysteresis model, as follows:

y(t)=k ₁ u(t)+k ₂ h(t)

The hysteresis model is established by the modeling method based on the mass-spring-damping mathematical and physical model, which can better describe the relationship between the hysteresis characteristics of piezoelectric ceramics and piezoelectric ceramic actuators, and the model form is simple and the method is simple; due to Bouc-wen The equivalent hysteresis model can describe most hysteresis systems and has a good fit with the hysteresis characteristics in the actual motion process. The hysteresis characteristics are well described, and the above-mentioned Bouc-wen equivalent hysteresis model is simplified compared with the traditional Bouc-wen model, which makes the model simpler, so that the parameters in the model can be identified later, and a higher precision model can be obtained. Target hysteresis model.

Preferably, as shown in FIG. 2, in S1, it also includes modifying the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model, and the specific formula of the modified Bouc-wen model is:

y ₁ (t)=k ₁ u(t)+k ₂ h ₁ (t)+d

为相位差值，

为所述修正迟滞分量对时间的一阶导数，

为所述修正输入电压对时间的一阶导数。Among them, y ₁ (t) is the corrected output displacement, u ₁ (t) is the corrected input voltage, h ₁ (t) is the corrected hysteresis component of the corrected Bouc-wen model, d is the corrected hysteresis component difference,

is the phase difference value,

is the first derivative of the modified hysteresis component with respect to time,

is the first derivative of the corrected input voltage with respect to time.

(即相位差值)，来对Bouc-wen等效迟滞模型进行修正，可以进一步提高修正的Bouc-wen模型在描述迟滞特性上的精度；本实施例可通过多次试验来调整修正迟滞分量差值d和相位差值

以实现对Bouc-wen等效迟滞模型的修正并得到修正输出位移y₁(t)。Since the Bouc-wen equivalent hysteresis model itself is an ideal model and has a deviation from the hysteresis behavior in the actual motion process, the deviation d from the initial position in the Bouc-wen equivalent hysteresis model (that is, the difference between the corrected hysteresis components) and the Deviation of initial phase

(that is, the phase difference value), to modify the Bouc-wen equivalent hysteresis model, which can further improve the accuracy of the modified Bouc-wen model in describing the hysteresis characteristics; this embodiment can adjust and correct the hysteresis component difference through multiple tests value d and phase difference value

In order to realize the correction of the Bouc-wen equivalent hysteresis model and obtain the corrected output displacement y ₁ (t).

This embodiment uses the uncorrected Bouc-wen equivalent hysteresis model in the previous step to verify the output displacement, so as to verify the description of the hysteresis characteristics, as shown in Figure 4-1 and Figure 4-2, and Figure 4- 1 and Figure 4-2 are the hysteresis diagrams of the input voltage and output displacement using the uncorrected Bouc-wen equivalent hysteresis model under the 2Hz input voltage signal and the 8Hz input voltage signal, respectively;

In this embodiment, the output displacement is verified under the same conditions according to the modified Bouc-wen model, as shown in Figure 5-1 and Figure 5-2. Figure 5-1 and Figure 5-2 respectively show the input at 2 Hz. The hysteresis diagram of the input voltage and output displacement is described by the modified Bouc-wen model at the voltage frequency and 8Hz input voltage frequency;

Combining Figures 4-1 and 4-2, as well as Figures 5-1 and 5-2, it can be clearly seen that the modified Bouc-wen equivalent hysteresis model (namely the modified Bouc-wen model) is used to describe piezoelectric ceramics. The hysteresis relationship between the input voltage of the actuator and the output displacement of the piezoelectric ceramic actuator is more accurate.

Preferably, as shown in FIG. 1 and FIG. 2 , the differential evolution method is specifically used in S2 to perform parameter identification on the modified Bouc-wen model to obtain the target hysteresis model.

The problem of improving the parameter accuracy is usually based on experimental data, and the parameter identification method is used to improve the model parameter accuracy. The operating parameters of the differential evolution method mainly include: mutation factor F, crossover factor CR, population size M and maximum number of iterations G. The variation factor F is an important parameter to control the diversity and convergence of the population, and generally takes a value between [0, 2]; when the value of the variation factor F is small, the degree of difference of the population decreases, and the evolution process is not easy to jump out of the local extreme value, which leads to The population converges prematurely; when the variation factor F is large, although it is easy to jump out of the local extreme value, the convergence speed will slow down. The crossover factor CR can control the degree of participation of each dimension of individual parameters in crossover and the balance of global and local search capabilities, generally between [0, 1]. The smaller the crossover factor CR is, the smaller the population diversity is, and it is easy to converge prematurely. The larger the CR, the faster the convergence speed, but too large may lead to slower convergence. The larger the CR, the smaller the F, and the population convergence is gradually accelerated, but with the increase of the crossover factor CR, the sensitivity of the convergence to the variation factor F gradually increases. The larger the population size M, the stronger the population diversity, and the greater the probability of obtaining the optimal solution, but the calculation time is longer. The maximum number of iterations G is generally used as the termination condition of the evolution process. The larger the number of iterations, the more accurate the optimal solution, but the simultaneous computation time will be longer.

Therefore, the above four parameters have a great influence on the solution result and solution efficiency of the differential evolution method, and it is necessary to reasonably set the above four parameters to obtain better results. The process is as follows:

(1) Initialize the population, determine the control parameters of the differential evolution algorithm, and determine the fitness function; the control parameters of the differential evolution algorithm include: the mutation factor F, the crossover factor CR, the population size M and the maximum number of iterations G;

(2) Evaluate the initial population, that is, calculate the fitness value of each individual in the initial population;

(3) Judging whether the termination condition is reached or the evolutionary algebra reaches the maximum; if so, terminate the evolution, and the best individual will be obtained as the optimal result output; if not, continue;

(4) Perform mutation and crossover operations to obtain intermediate populations;

(5) Select better individuals from the original population and the intermediate population as a new generation population;

(6) The number of evolution iterations G=G+1, go to step (2);

The specific flow chart is shown in FIG. 6 .

Parameter identification by the differential evolution method can greatly improve the accuracy of the relevant parameters in the revised Bouc-wen model, which is embodied in the further improvement of the improved Bouc-wen model in describing the hysteresis characteristics of piezoelectric ceramics. Therefore, it is convenient to apply the modified Bouc-wen model in the fractional-order sliding mode controller to describe the hysteresis characteristics of piezoelectric ceramics, so as to effectively suppress the hysteresis characteristics.

Preferably, as shown in Figure 1 and Figure 2, S3 specifically includes the following steps:

Step 31: Determine the sliding mode surface of the fractional-order sliding mode controller according to the displacement error between the corrected output displacement in the target hysteresis model and a preset reference displacement;

The sliding surface is:

e=y ₁ -y _d ;

Wherein, s is the sliding mode surface, e is the displacement error, y ₁ is the value of the corrected output displacement, y _d is the reference displacement, and c ₀ is the proportional parameter of the fractional sliding mode controller And c ₀ >0, D is a fractional order operation, and λ is the order of the fractional order;

Step 32: Determine the control law of the fractional sliding mode controller according to the sliding mode surface, and obtain the fractional sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model control signal;

The control law is:

为所述滑模面的一阶导数，k₀为指数趋近项系数，ε为趋近速度，sgn(·)为开关函数；in,

is the first derivative of the sliding mode surface, k ₀ is the exponential approach term coefficient, ε is the approach speed, and sgn( ) is the switching function;

The specific formula of the control signal is:

Wherein, u _c (t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical-physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical-physical model, k ₃ and k ₄ are the second shorthand coefficients obtained according to k ₁ and k ₂ ;

Step 33: Control the piezoelectric ceramic actuator according to the control signal.

The parameter accuracy of the revised Bouc-wen model is improved according to the differential evolution method, and the revised output displacement is obtained according to the revised Bouc-wen model after the improved accuracy (ie, the target hysteresis model), and the displacement error between the revised output displacement and the reference displacement is taken as The main variables of the sliding mode surface of the fractional sliding mode controller, and the corresponding control law is determined according to the sliding mode surface. Compared with the traditional sliding mode controller, it can better suppress the jitter problem of the sliding mode surface and ensure the corrected output. The displacement can track the reference displacement better in real time, thereby effectively suppressing the hysteresis characteristics, and the calculation process is less and the difficulty is low, which can largely ensure the real-time performance of the positioning control based on the piezoelectric ceramic actuator, and the control effect is good;

Among them, the order λ of the fractional order generally takes a value between (0, 1], and λ=1 means a traditional sliding mode controller.

A schematic structural diagram of the fractional-order sliding mode controller designed according to the above steps in this embodiment is shown in FIG. 7 .

This embodiment also adopts Lyapunov stability theorem to prove the stability of the obtained fractional-order sliding mode controller, and selects the energy function as:

证明过程如下所示：where V is the energy function; it is easy to prove

The proof process is as follows:

It can be seen that the fractional-order sliding mode controller designed in this embodiment has high stability in controlling the piezoelectric ceramic actuator, and can effectively suppress the hysteresis characteristic of the piezoelectric ceramic actuator.

Specifically, the relevant parameters of the piezoelectric ceramic actuator and fractional-order sliding mode controller selected in this embodiment are:

The mass is m=1.45kg, the equivalent damping coefficient is c=11Ns/m, the first equivalent stiffness coefficient is k _s =9.998×10 ⁵ N/m, the reference displacement y _d signal is a sine with a frequency of 2Hz and a peak-to-peak value of 10μm Signal.

The traditional sliding mode controller and fractional-order sliding mode controller are used to control the piezoelectric ceramic actuator. Under the condition of entering the steady state operation, the obtained output displacement tracking waveforms are shown in Figure 8-1 and Figure 8-2 respectively. As can be seen from Figure 8-1 and Figure 8-2, the fractional-order sliding mode controller of this embodiment has a higher displacement tracking fit; The displacement error tracking waveforms under fractional sliding mode control are shown in Figure 9-1 and Figure 9-2 respectively. From Figure 9-1 and Figure 9-2, it can be seen that the tracking error in the traditional sliding mode control The peak-to-peak value is 0.076 μm, while the peak-to-peak value of tracking error in fractional-order sliding mode control is 0.014 μm, and the peak-to-peak value of tracking error is reduced by 81.5%. It can be seen that the method for suppressing the hysteresis characteristic of the piezoelectric ceramic actuator in this embodiment can significantly and effectively suppress the hysteresis characteristic, and can effectively improve the precise positioning, tracking and motion control of the precision equipment using the piezoelectric ceramic actuator, thereby improving the precision Manufacturing productivity and product quality.

Embodiment 2. As shown in FIG. 10 , a system for suppressing hysteresis characteristics of a piezoelectric ceramic actuator includes a power supply module, a sampling module, a processing module and a control module;

The power module is used to provide the input voltage of the piezoelectric ceramic actuator;

The sampling module is used to obtain the output displacement of the piezoelectric ceramic actuator under the input voltage;

The processing module is used for establishing a hysteresis model according to the output displacement and the input voltage, and is also used for parameter identification of the hysteresis model to obtain a target hysteresis model, and is also used for designing a fractional slip according to the target hysteresis model. model controller;

The control module is configured to use the fractional-order sliding mode controller to control the piezoelectric ceramic actuator.

In this embodiment, the input voltage of the piezoelectric ceramic actuator is provided by the power module, and the output displacement generated under the input voltage is acquired by the acquisition module. Since the hysteresis characteristic of the piezoelectric ceramic actuator is directly reflected as the output displacement under the input voltage, Therefore, the processor establishes a hysteresis model through the output displacement and the input voltage, and describes the hysteresis characteristics by the relationship between the output displacement and the input voltage, which can better describe the relationship between the hysteresis characteristics and the piezoelectric ceramic actuator, and is convenient for subsequent obtaining according to the relationship between the two. The control signal of the hysteresis characteristic is suppressed, so that the control module uses the fractional-order sliding mode controller to control the piezoelectric ceramic actuator according to the control signal; because the hysteresis model has model errors and there are multiple parameters, the hysteresis model is identified by the processing module. In order to obtain the target hysteresis model with higher accuracy, the fitting degree of the target hysteresis model and the hysteresis characteristics is higher, and the description of the hysteresis characteristics is more accurate, so as to facilitate the processing module to design a more accurate target hysteresis model according to the high-precision target hysteresis model. Fractional sliding mode controller: Compared with the traditional controller, the fractional sliding mode controller can better suppress the jitter problem of the sliding mode surface, and the calculation process is less and the calculation difficulty is low, which can guarantee the piezoelectricity to a large extent. Real-time control of ceramic actuators, better control effect, can more effectively suppress the hysteresis characteristics of piezoelectric ceramic actuators in the working process, avoid hysteresis characteristics affecting the precision positioning, tracking and motion control of manufacturing equipment, improve precision manufacturing work efficiency and product quality.

Preferably, the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the processing module is further specifically configured to revise the Bouc-wen equivalent hysteresis model to obtain a revised Bouc-wen model.

(即相位差值)，来对Bouc-wen等效迟滞模型进行修正，可以进一步提高修正Bouc-wen模型在描述迟滞特性上的精度。Since the Bouc-wen equivalent hysteresis model can describe most hysteretic systems and has a good fit with the hysteresis characteristics in the actual motion process, the Bouc-wen equivalent hysteresis is obtained through the mass-spring-damping mathematical and physical model. Compared with the traditional Bouc-wen model, the above Bouc-wen equivalent hysteresis model is simplified, which makes the model simpler, so that the parameters in the model can be identified later, and the The target hysteresis model with higher accuracy; since the Bouc-wen equivalent hysteresis model itself is an ideal model, which deviates from the hysteresis behavior in the actual motion process, the deviation d from the initial position in the Bouc-wen equivalent hysteresis model is introduced (ie Correction hysteresis component difference) and deviation from initial phase

(that is, the phase difference value), to modify the Bouc-wen equivalent hysteresis model, which can further improve the accuracy of the modified Bouc-wen model in describing the hysteresis characteristics.

Embodiment 3. Based on Embodiment 1 and Embodiment 2, this embodiment also discloses a system for suppressing hysteresis characteristics of a piezoelectric ceramic actuator, including a processor, a memory, and a system stored in the memory and operable in the The computer program on the processor, when the computer program runs, realizes the following steps as shown in Figure 1:

S1: obtain the output displacement generated by the piezoelectric ceramic actuator under the input voltage, and establish a hysteresis model according to the output displacement and the input voltage;

S2: Perform parameter identification on the hysteresis model to obtain a target hysteresis model;

S3: Design a fractional-order sliding mode controller according to the target hysteresis model, and use the fractional-order sliding mode controller to control the piezoelectric ceramic actuator.

Through the computer program stored in the memory and running on the processor, the system for suppressing the hysteresis characteristics of the piezoelectric ceramic actuator of the present invention can be realized, and the relationship between the hysteresis characteristics and the piezoelectric ceramic actuator can be better described, and it is convenient to obtain the following results. The control signal that suppresses the hysteresis characteristic, so that the fractional-order sliding mode controller can control the piezoelectric ceramic actuator according to the control signal. Compared with the traditional controller, the fractional-order sliding mode controller can better suppress the jitter of the sliding mode surface, and the calculation Fewer processes and low calculation difficulty can ensure the real-time control of piezoelectric ceramic actuators to a large extent, the control effect is better, and the hysteresis characteristics of piezoelectric ceramic actuators in the working process can be suppressed more effectively, avoiding hysteresis Characteristics affect the precise positioning, tracking and motion control of manufacturing equipment, improving work efficiency and product quality in precision manufacturing.

This embodiment further provides a computer storage medium, where at least one instruction is stored on the computer storage medium, and the specific steps of S1-S3 are implemented when the instruction is executed.

By executing the computer storage medium containing at least one instruction, the suppression of the hysteresis characteristic of the piezoelectric ceramic actuator of the present invention can be achieved, the relationship between the hysteresis characteristic and the piezoelectric ceramic actuator can be better described, and it is convenient to obtain a control signal for suppressing the hysteresis characteristic subsequently. , so that the fractional sliding mode controller can control the piezoelectric ceramic actuator according to the control signal. Compared with the traditional controller, the fractional sliding mode controller can better suppress the jitter problem of the sliding mode surface, and the calculation process is less and the calculation difficulty is low. , can guarantee the real-time control of the piezoelectric ceramic actuator to a large extent, the control effect is better, can more effectively suppress the hysteresis characteristics of the piezoelectric ceramic actuator in the working process, and avoid the hysteresis characteristics affecting the precision of the manufacturing equipment Positioning, tracking and motion control to improve work efficiency and product quality in precision manufacturing.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (4)

1. A method for suppressing hysteresis characteristics of a piezoelectric ceramic actuator, comprising the following steps: Step 1: obtain the output displacement generated by the piezoelectric ceramic actuator under the input voltage, and establish a hysteresis model according to the output displacement and the input voltage; Step 2: performing parameter identification on the hysteresis model to obtain a target hysteresis model; Step 3: designing a fractional-order sliding mode controller according to the target hysteresis model, and using the fractional-order sliding mode controller to control the piezoelectric ceramic actuator; The step 1 specifically adopts a modeling method based on a mass-spring-damping mathematical and physical model to establish the hysteresis model; the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the specific example of the Bouc-wen equivalent hysteresis model is: The formula is:

where y(t) is the output displacement, u(t) is the input voltage, h(t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,

is the first derivative of the hysteresis component with respect to time, D ₀ , A, β, γ and n are all model parameters reflecting the hysteresis characteristics,

is the first derivative of the input voltage with respect to time, α is the weight coefficient, k _s is the first equivalent stiffness coefficient of the piezoelectric ceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, Both k ₁ and k ₂ are the first abbreviated coefficients obtained according to α, D ₀ , k and k _s ; In the step 1, it also includes modifying the Bouc-wen equivalent hysteresis model to obtain a modified Bouc-wen model. The specific formula of the modified Bouc-wen model is:

Among them, y ₁ (t) is the corrected output displacement, u ₁ (t) is the corrected input voltage, h ₁ (t) is the corrected hysteresis component of the corrected Bouc-wen model, d is the corrected hysteresis component difference,

is the phase difference value,

is the first derivative of the modified hysteresis component with respect to time,

is the first derivative of the corrected input voltage with respect to time; In the step 2, the differential evolution method is specifically used to perform parameter identification on the modified Bouc-wen model to obtain the target hysteresis model; The step 3 specifically includes the following steps: Step 31: Determine the sliding mode surface of the fractional-order sliding mode controller according to the displacement error between the corrected output displacement in the target hysteresis model and a preset reference displacement; The sliding surface is:

e=y ₁ -y _d ; Wherein, s is the sliding mode surface, e is the displacement error, y ₁ is the value of the corrected output displacement, y _d is the reference displacement, and c ₀ is the proportional parameter of the fractional sliding mode controller And c ₀ >0, D is a fractional order operation, and λ is the order of the fractional order; Step 32: Determine the control law of the fractional sliding mode controller according to the sliding mode surface, and obtain the fractional sliding mode controller according to the control law, the sliding mode surface and the target hysteresis model control signal; The control law is:

in,

is the first derivative of the sliding mode surface, k ₀ is the exponential approach term coefficient, ε is the approach speed, and sgn( ) is the switching function; The specific formula of the control signal is:

Wherein, u _c (t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical-physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical-physical model, k ₃ and k ₄ are the second shorthand coefficients obtained according to k ₁ and k ₂ ; Step 33: Control the piezoelectric ceramic actuator according to the control signal. 2. A suppression system for the hysteresis characteristic of a piezoelectric ceramic actuator, characterized in that it comprises a power supply module, a sampling module, a processing module and a control module; The power module is used to provide the input voltage of the piezoelectric ceramic actuator; The sampling module is used to obtain the output displacement of the piezoelectric ceramic actuator under the input voltage; The processing module is used for establishing a hysteresis model according to the output displacement and the input voltage, and is also used for parameter identification of the hysteresis model to obtain a target hysteresis model, and is also used for designing a fractional slip according to the target hysteresis model. model controller; The control module is configured to use the fractional-order sliding mode controller to control the piezoelectric ceramic actuator; The processing module is specifically used to establish the hysteresis model by using a modeling method based on a mass-spring-damping mathematical and physical model; the hysteresis model is specifically a Bouc-wen equivalent hysteresis model, and the Bouc-wen equivalent hysteresis model The specific formula is:

where y(t) is the output displacement, u(t) is the input voltage, h(t) is the hysteresis component of the Bouc-wen equivalent hysteresis model,

is the first derivative of the hysteresis component with respect to time, D ₀ , A, β, γ and n are all model parameters reflecting the hysteresis characteristics,

is the first derivative of the input voltage with respect to time, α is the weight coefficient, k _s is the first equivalent stiffness coefficient of the piezoelectric ceramic actuator, k is the second equivalent stiffness coefficient reflecting the hysteresis characteristic, Both k ₁ and k ₂ are the first abbreviated coefficients obtained according to α, D ₀ , k and k _s ; The processing module is also specifically used to revise the Bouc-wen equivalent hysteresis model to obtain a revised Bouc-wen model, and the specific formula of the revised Bouc-wen model is:

Among them, y ₁ (t) is the corrected output displacement, u ₁ (t) is the corrected input voltage, h ₁ (t) is the corrected hysteresis component of the corrected Bouc-wen model, d is the corrected hysteresis component difference,

is the phase difference value,

is the first derivative of the modified hysteresis component with respect to time,

is the first derivative of the corrected input voltage with respect to time; The processing module is specifically configured to use a differential evolution method to perform parameter identification on the modified Bouc-wen model to obtain the target hysteresis model; The processing module is also specifically used for: determining a sliding mode surface of the fractional-order sliding mode controller according to a displacement error between the corrected output displacement in the target hysteresis model and a preset reference displacement; The sliding surface is:

e=y ₁ -y _d ; Wherein, s is the sliding mode surface, e is the displacement error, y ₁ is the value of the corrected output displacement, y _d is the reference displacement, and c ₀ is the proportional parameter of the fractional sliding mode controller And c ₀ >0, D is a fractional order operation, and λ is the order of the fractional order; The control law of the fractional sliding mode controller is determined according to the sliding mode surface, and the control signal of the fractional sliding mode controller is obtained according to the control law, the sliding mode surface and the target hysteresis model ; The control law is:

in,

is the first derivative of the sliding mode surface, k ₀ is the exponential approach term coefficient, ε is the approach speed, and sgn( ) is the switching function; The specific formula of the control signal is:

Wherein, u _c (t) is the control signal, m is the equivalent mass of the mass-spring-damping mathematical-physical model, c is the equivalent damping coefficient of the mass-spring-damping mathematical-physical model, k ₃ and k ₄ are the second shorthand coefficients obtained according to k ₁ and k ₂ ; The control module is specifically configured to control the piezoelectric ceramic actuator according to the control signal. 3. A system for suppressing hysteresis characteristics of a piezoelectric ceramic actuator, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, when the computer program runs The method steps of claim 1 are implemented. 4. A computer storage medium, wherein the computer storage medium comprises: at least one instruction that, when executed, implements the method steps of claim 1 .

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