Robust impedance control of a piezoelectric stage under thermal and external load disturbances

• Autorzy: Zareinejad M. , Rezaei S. M. , Ghidary S. S. , Abdullah A. , Motamedi M.
• Języki publikacji: EN

Abstrakty

EN

Piezoelectric actuators are widely used in micromanipulation tasks such as atomic force microscopy and cell manipulation. However, the hysteresis nonlinearity and the creep reduce their fidelity and cause difficulties in the micromanipulation control procedure. Besides, variation of temperature and external loads could change the model parameters identified for the piezo actuator. In this paper, a novel feedforward-feedback controller is proposed. The modified Prandtl-Ishlinskii model is utilized to linearize the actuator hysteresis in feedforward scheme and a sliding mode based impedance control with perturbation estimation is used to cancel out the thermal and external load disturbances in feedback scheme. The efficiency of the proposed controller is verified by experiments.

Słowa kluczowe

EN

piezoelectric actuator; sliding mode; impedance control; hysteresis

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2009
• Tom: Vol. 38, no 3
• Strony: 635--648
• Opis fizyczny: Bibliogr. 11 poz., wykr.

Twórcy

autor

Zareinejad M.

autor

Rezaei S. M.

autor

Ghidary S. S.

autor

Abdullah A.

autor

Motamedi M.

• Department of Mechanical Engineering, Amirkabir University Tehran, Iran

Bibliografia

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• ELMALI, H. and OLGAC, N. (1996) Implementation of sliding mode control with perturbation estimation (SMCPE). IEEE Trans. Control Syst. Technol. 4(1) 79-85.
• GE, P. and JOUANEH, M. (1995) Modeling hysteresis in piezoceramic actuators. Precision Engineering 17 (3) 211-221.
• GE, P. and JOUANEH, M. (1996) Tracking control of a piezoceramic actuator. IEEE Trans. Control Syst. Technol. 4 (3) 209-215.
• GE, P. and JOUANEH, M. (1997) Generalized Preisach model for hysteresis nonlinearity of piezoelectric actuators. Precision Engineering 20, 99-111.
• HUGHES, D. and WEN, J.T. (1997) Preisach modeling of piezoceramic and shape memory alloy hysteresis. Smart Mater. Struct. 287-300.
• CORBET, R.B., MORRIS, K.A. and WANG, D.W.L. (2001) Passivity-based stability and control of hysteresis in smart actuators. IEEE Transactions Control Syst. Technol. 9.
• KAILATH, T., SAVED, A.M. and HASSIBI, B. (2000) Linear Estimation. Prentice Hall, New Jersey.
• KREJCÍ, P. and KUHNEN, K. (2001) Inverse Control of Systems with Hysteresis and Creep. IEE Proceedings Control Theory and Applications.
• KUHNEN, K. and FABIO, P. (2003) Modeling, identification and compensation of complex hysteretic nonlinearities: A modified Prandtl-Ishlinskii approach. European Journal of Control, 407-421.