PI 模型是一種運(yùn)算量小，容易求逆并可用于實(shí)時(shí)控制系統(tǒng)中的遲滯模型。它是與輸入信號(hào)頻率無(wú)關(guān)的靜態(tài)模型。而壓電陶瓷表現(xiàn)為與輸入頻率有關(guān)的動(dòng)態(tài)遲滯特性。對(duì)PI 模型進(jìn)行改進(jìn)，引入慣性環(huán)節(jié)，增加遲滯元的動(dòng)態(tài)特性，提出了動(dòng)態(tài)PI 遲滯模型。實(shí)驗(yàn)結(jié)果表明，改進(jìn)的PI 動(dòng)態(tài)模型能很好地逼近壓電陶瓷的位移輸出信號(hào)，并具有較高的模型預(yù)測(cè)精度。
關(guān)鍵詞：PI 遲滯模型 動(dòng)態(tài)遲滯元 動(dòng)態(tài)遲滯特性 壓電陶瓷執(zhí)行器

Abstract PI model is a static hysteresis model, which is rate-independence and is easily used for control system. However, hysteresis in piezoceramic is dynamic and rate-dependence. By first–order lag operator introducing to PI model, dynamic PI model is proposed in this paper. Results of experiment show that dynamic PI model can be approximated well displacement of piezoceramic and is of high prediction precision.
Keywords： PI hysteresis model, Dynamic hysteresis operator, Dynamic hysteresis behavior, Piezoceramic actuator