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This paper presents the application of iterative learning control (ILC) to compensate hysteresis in a piezoelectric actuator. The proposed controller is a hybrid of proportional-integral-differential (PID) control, whose main function is for trajectory tracking, and a chatter-based ILC, whose main function is for hysteresis compensation. Stability analysis of the proposed ILC is presented, with the PID included in the dynamic of the piezoelectric actuator. The performance of the proposed controller is analysed through simulation and verified with experiment with a piezoelectric actuator.  相似文献
3.
This paper establishes and investigates an enhanced adaptive motion tracking control methodology for piezo-actuated flexure-based four-bar micro/nano manipulation mechanisms. This control methodology is proposed for tracking desired motion trajectories in the presence of unknown or uncertain system parameters, non-linearities including the hysteresis effect, and external disturbances in the motion systems. In this paper, the equations for the modelling of a flexure-hinged four-bar micro/nano mechanism are established. These include the angular stiffness, ‘static’ linear stiffness, equation of motion, and lowest structural resonance of the mechanism. In addition, a lumped parameter dynamic model that combines the piezoelectric actuator and the micro/nano mechanism is established for the formulation of the proposed control methodology. The stability of the control approach is analysed, and the convergence of the position and velocity tracking errors to zero is proven theoretically. A precise tracking performance in following a desired motion trajectory is also demonstrated in the experimental study. An important advantage of this control methodology is that the approach requires only a knowledge of the estimated lumped system parameters in the physical realisation. This proposed motion tracking control methodology is very attractive for the implementation of high performance flexure-based micro/nano manipulation control applications.  相似文献
4.
Piezoelectric actuators (PEAs) are the key devices in micro/nano positioning system. However, the PEA performance is significantly degraded by the inherent non-linear behaviour. This behaviour is a consequence of the hysteresis properties contained within PEAs. Therefore, in micro/nano positioning applications, a robust control system has to be adopted for such actuators. This paper proposes a systematic control method that utilises a fast non-singular terminal sliding mode (FNTSM) based on online perturbation estimation technique for PEAs. Unlike other sliding mode methods, the FNTSM control method is characterised by chatter free. Besides, a zero error convergence can be guaranteed in finite time in the presence of disturbance and system uncertainties (i.e., hysteresis and gain changes). The design of the FNTSM control based on perturbation estimation (FNTSMPE) is presented. A model-free robust exact differentiator is used to estimate the states of the feedback system from merely measurable position signal. Theoretical analysis and the experimental results of FNTSMPE control reveal that high-precision and robust performance is achieved in comparison with ordinary FNTSM control.  相似文献
5.
M.  P.  P.  A.  P.  A.  J.  G. 《Sensors and actuators. A, Physical》2009,150(2):251-256
This paper presents the design and fabrication of a light deflector made from textured polycrystalline antimony sulfoiodide (SbSI) obtained by gradient freezing during the rapid quenching from the liquid state. The piezoelectric and electrostriction parameters of the textured polycrystalline SbSI are evaluated from the reflection measurements. First time the electrostrictive constant of this material (4.6(1) × 10−13 m2/V2) is reported.  相似文献
6.
A magnetostrictive-shape memory piezoelectric material composite is proposed to realize a magnet field memory effect. An imprint electrical field enables a shape memory piezoelectric actuator, and the shape memory effect maintains a certain permeability of the magnetostrictive materials. A new magnetic flux memory effect is generated using a composite of the magnetostrictive-shape memory piezoelectric actuator and a permanent magnet. This magnetic flux memory effect can be operated with a pulsed voltage to the shape memory piezoelectric actuator, so that no energy is consumed to maintain a certain magnetic effect.  相似文献
7.
Micro-scaled parts with dimension below 1 mm need to be manipulated with high precision and consistency in order to guarantee successful microassembly process. Often these requirements are difficult to be achieved particularly due to the problems associated with the structural integrity of the grasping mechanism which will affect the accuracy of the manipulation. Furthermore, the object's texture and fragility imply that small perturbation by the grasping mechanism can result in substantial damage to the object and leads to the degradation of its geometry, shape, and quality. This paper focuses on the unification of two designing approaches to develop a compliant-based microgripper for performing high precision manipulation of micro-objects. A combination of Pseudo Rigid Body Model (PRBM) and Finite Element Analysis (FEA) technique has proven to improve the design efficiency by providing the essential guideline to expedite the prototyping procedure which effectively reduces the cost and modeling time. An Electro Discharge Machining (EDM) technique was utilized for the fabrication of the device. Series of experimental studies were conducted for performance verification and the results are compared with the computational analysis results. A high displacement amplification and maximum stroke of 100 μm can be achieved.  相似文献
8.
主要针对压电微动平台设计追迹控制器。压电致动器的非线性现象主要是受磁滞现象所影响,首先采用Prandtl-Ishlinskii(PI)模型来描述压电致动器的磁滞现象,利用最小平方算法识别出磁滞模型的权重值,再利用此模型求出其逆模型以前馈控制器来补偿,最后利用自调式类神经PID控制器来消除建模误差。实验验证方面,在PC-based压电控制平台架构下,利用前馈控制器与闭回路结合自调式类神经PID控制器进行定位控制。  相似文献
9.
Motion tracking is an important problem in micropositioning systems dedicated to ultra-precision robotic micromanipulation. This paper investigates the periodic motion tracking performance of a micropositioning system based on an empirical tracking performance index (TPI), which is proposed with the consideration of both tracking errors and tracking frequencies. To improve the TPI of a micropositioning system with piezoelectric actuation, a two-loop controller consisting of an HH robust controller and a disturbance observer is implemented. Experimental studies are conducted on an XY parallel micropositioning system for the motion tracking tests. Results demonstrate that a sole HH robust controller is insufficient to produce a satisfactory tracking performance with low-frequency control. In contrast, the two-loop controller endows the system with both a lower tracking error and a better TPI than the conventional robust control does. The experimental results not only validate the effectiveness of the proposed control method in improving tracking performance but also confirm the feasibility of the TPI in quantitatively characterizing the performance of a micropositioning system.  相似文献
10.
In this study, a self-sensitive piezoelectric cantilever with a new design for sensing is presented. Micro-cantilevers were actuated by a 120 nm-thick Lead Zirconate Titanate Oxide (PZT) layer. Detection was done by measuring the resistance of a metallic gauge integrated on the surface of the micro-piezoelectric cantilevers. Some metallic gauges were embedded in a Wheatstone bridge to improve the measured resistance accuracy. Devices with direct resistance measurement were also realized. Gauge resistance responses were compared with an optical measurement by a White Light Interferometer. By biasing the PZT between −5 V and 5 V, cyclic deflection of the cantilever was detected with both optical and metallic gauge resistance systems. The two measurements fit. This self-sensitive piezoelectric cantilever can be used for fatigue test with packaged devices.  相似文献
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