共查询到19条相似文献,搜索用时 78 毫秒
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一维压电式微定位机构的设计研究 总被引:2,自引:0,他引:2
针对精密工作台高速、低精度的矛盾,以柔性铰链为导向元件、压电陶瓷为驱动器,研究、设计了一种一维高分辨率压电式微定位机构。由于精密工作台高速运动产生的运动惯量较大,欲实现亚微米级的定位精度是很困难的,因而在精密工作台运行到位后,由微定位机构对检测装置所检测出的定位误差进行补偿,以提高工作台的定位精度;由于压电陶瓷微位移器件输出位移过小,因此提出了一种单自由度对称式柔性铰链放大机构来提高微定位行程。给出了机构的动力学模型,并结合光栅尺检测装置,设计并研制了数字闭环定位控制系统,对微定位机构的定位特性进行了测试。实测结果表明,此微定位系统可实现高分辨率、长行程定位,定位分辨率达0.01μm。 相似文献
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Jongwon Kim Tae Won Seo Deuk Soo Kang Hwa Soo Kim 《Mechatronics, IEEE/ASME Transactions on》2009,14(5):616-625
This paper presents a precise positioning control of a microparallel positioning platform using a dual-stage servo system. The result of the research can be applied to dual-stage-type parallel machines for improving the positioning accuracy. The proposed platform adopts a dual-stage system that consists of three coarse actuators and three fine actuators to realize 3 degrees of freedom (DOF) motion. The 3-DOF motion of the end-effector is measured by a set of three linear sensors. Dynamic models for the coarse and fine actuators are derived by the system identification approach. The gain-scheduled multi-input multi-output (MIMO) controllers are synthesized based on the modeling. The MIMO controller is designed with a mixed-sensitivity criterion on tracking performance and positioning capability, and the design of the gain scheduler is based on the kinematics change. By integrating the controllers for two kinds of actuators, a dual servo controller can be developed based on the master-slave with decoupling structure. An antiwindup controller and a feedforward compensator are adopted to improve the performance. The successful performance of the synthesized dual servo controller is validated through experiments on tracking to guarantee submicrometer accuracy. 相似文献
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由于微纳米级精密定位技术在原位测试、精密光学、超精加工等领域的作用无可替代,因此具有精密定位功能的各种新型驱动器受到国内外学者的广泛关注,其中尺蠖型压电驱动器的研究尤为活跃。该类驱动器定位精度高,结构紧凑,输出力大,运动稳定,具备较大工作行程的同时拥有较高的运动分辨率,在各类驱动器中综合优势明显。首先,介绍了尺蠖型压电驱动器的原理和关键部件;其次,对直线型、旋转型和一体型三类代表性尺蠖驱动器的研究进展进行了总结和归纳,分析了各自的主要结构、动作原理、性能特点和适用场合。结果表明,实用性问题是未来研究重点,可从构型设计、控制系统、补偿算法以及温度控制等方面加以改进。 相似文献
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根据尺蠖运动原理设计了一种新型微定位仿生运动模块.以压电陶瓷作为驱动元件.柔性铰链为导向机构,实现大范围移动和高精度定位。采用模块化设计思想,将两个运动模块集成,研制成功两维微定位仿生运动机器人。研制压电陶瓷驱动双重杠杆放大的刻字作业工具,并与微定位机器人结合实现了光盘表面的刻字作业,验证了系统的有效性。 相似文献
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用PZT作执行器抑制柔性梁的振动 总被引:2,自引:0,他引:2
研究了用PZT作执行器对柔性梁振动的抑制,分析了PZT用作执行器时的电机械性能,表明了PZT执行器在振动抑制中的最佳位置,给出了实验结果。 相似文献
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Positioning precision is crucial to today's increasingly high-speed, high-capacity, high-data-density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. The idea of applying dual-stage actuators to track servo systems has been studied. However, the current dual-stage actuator design uses only piezoelectric patches without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase the speed of track seeking but also to improve the precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to investigate the damping abilities and transmissibilities of the microactuators and to implement the synthesized active-passive suspension structure using a composite nonlinear feedback controller. 相似文献
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A novel, compact and two degree-of-freedoms (DOF) submicrometer positioner with a large moving range is presented in this paper. The design of the positioner utilizes a monolithic parallel flexure mechanism with built-in electromagnetic actuators and eddy current sensors to achieve the precision 2-DOF motion. The travel range of the positioner is 1000 μm/5 mrad and which depend on the eddy current sensor’s range of measurement (ROM) and electromagnetic actuator’s effective length. The analytical model and its dynamics were analyzed and derived. The whole control architecture takes the measured configuration parameters and endeavors to control the positioner motion by regulating the currents in the electromagnetic actuators. To increase the compactness and stability of the positioner, a self-tuning adaptive (STA) controller was analyzed and proposed. From the experimental results, satisfactory performances of the system, including stiffness and precision, have been successfully demonstrated. 相似文献
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为解决一种左右平行驱动式压电陶瓷微小机器人,由装配误差和压电陶瓷特性的不一致所带来的运动偏差,提出了一种基于驱动量补偿的方法对微小机器人进行运动控制.在详细分析微小机器人的stick-and-slip 运动原理的基础上进行实验设计,对左右压电陶瓷驱动器分别输入不同的驱动量,得到多个微小型机器人在横向位置上的位移偏差量.对所得实验数据用最小二乘法进行处理,并拟合出曲线,进而确定微小型机器人的输入驱动量的补偿值.实验表明,加入了补偿输入后,微小型机器人在相同步数下的直线前进运动中,横向的位置偏差减少为原来的6.1%.利用最小二乘法所得到的基于驱动量补偿的运动控制,能有效抑制微小机器人直线运动中横向位置的偏差. 相似文献