Tracking position control of piezoelectric actuators for periodic reference inputs |
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| Affiliation: | 1. Department of Electrical Engineering, University of Seoul, 90 Jeonnong-dong, Dongdaemoon-ku, Seoul 130-743, South Korea;2. Department of Mechanical Systems Engineering, Hansung University, 389 Samsun-dong 2ga, Sungbuk-ku, Seoul 136-792, South Korea;1. Department of Gastroenterology, First Affiliated Hospital of Kunming Medical University, Yunnan Institute of Digestive Diseases, Kunming 650032, China;2. Kunming Medical University, Kunming 650032, China;3. Department of Ultrasound, First Affiliated Hospital of Kunming Medical University, Kunming 650032, China;4. Department of General Surgery, First Affiliated Hospital of Kunming Medical University, Yunnan Institute of Digestive Diseases, Kunming 650032, China;1. Mechanics and Aerospace Design Laboratory, University of Toronto, 5 King’s College Rd., Toronto, Ontario, Canada;2. Department of Mechanical Engineering, Urmia University, Urmia, Iran |
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| Abstract: | The hysteresis characteristic is one of the major setbacks in precise tracking position control of piezoelectric actuators. In this paper, a position control method for a piezoelectric actuator is presented. The controller is based on PID control method augmented with feedback linearization loop. The feedback linearization loop uses a plant model drawn from the Maxwell slip model. The control strategy is then further extended to include a repetitive control algorithm for tracking periodic inputs. Experiments were performed on a 2-axis linear positioner driven by piezoelectric actuators. The experimental results show that the tracking performance is noticeably improved by augmenting a PID controller with both feedback linearization loop and a repetitive controller. |
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