Force control of a piezoelectric actuator based on a statistical system model and dynamic compensation

Szufnarowski, Filip; Schneider, Axel

doi:10.1016/j.mechmachtheory.2011.05.004

Cited by 22 publications

(15 citation statements)

References 25 publications

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“…In order to satisfy condition (16), it has to be that |b/2| ≤ c m in . (21) Resultant force applied by the legs to the rod will reside inside the cone of friction because (22) is satisfied. Besides this fact, the y-direction interaction force will remain constant for most of the period, except in the intervals when one pair is moving down in the y-direction in order to release the rod, and another is moving up to take over the rod.…”

Section: One Example Of the Moving Vector Definitionmentioning

confidence: 99%

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Piezo LEGS Driving Principle Based on Coordinate Transformation

Uzunović

Golubovic

Şabanoviç

2015

IEEE/ASME Trans. Mechatron.

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This paper offers a new approach for specifying the waveforms of driving voltages for a Piezo LEGS motor. A novel idea of coordinate transformation to define the waveforms of driving voltages, based on the motor static model, is presented. This transformation defines driving voltages according to the desired motion of the motor legs in the x-and y-directions. The approach allows a user to first define force acting on the motor rod in the ydirection and define the rod's x-direction trajectory profile. Waveforms of the driving voltages are subsequently defined to meet these requirements. The proposed approach also enables the possibility of defining the desired step shape for the motor and, according to that definition, producing driving voltages. Based on the given coordinate transformation, a simple method for Piezo LEGS motor control, identified as virtual time control, is presented. This method results in overshoot-free high precision positioning.

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Section: One Example Of the Moving Vector Definitionmentioning

confidence: 99%

“…The adaptive controller for high precision positioning using Piezo LEGS motor and theoretical/experimental evaluation of step-size dependence on the characteristics of driving voltages were in the focus of the authors in [20]. In addition, the Piezo LEGS motor was used to perform force control in [21] and [22].…”

Section: Introductionmentioning

confidence: 99%

Piezo LEGS Driving Principle Based on Coordinate Transformation

Uzunović

Golubovic

Şabanoviç

2015

IEEE/ASME Trans. Mechatron.

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“…The hysteresis model and output force prediction method of the piezoelectric actuator have been used to solve some of the output force control problems of the piezoelectric actuator. A statistical model based on the output force was compensated by a discrete P-I feedback controller [18], and a force detector based on the hyperbolic model was used for PID feedback control [19]. In the application of piezoelectric jet dispensing valves [20], [21], the output displacement of piezoelectric ceramics often cannot satisfy travel requirements, as piezoelectric ceramics typically form a piezoelectric actuator with a lever-type flexure hinge or a straight circular flexure hinge.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Hysteresis Model and Control Methodology for Force Output Using Piezoelectric Actuator Driving

Chen

Peng

et al. 2020

IEEE Access

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“…Lately, implementation of the FPGA-based and DSC-based control systems for the Piezo LEGS motor were reported in [22] and [23]. The Piezo LEGS motor used in this research was utilized to perform force control in [24] and [25]. The presented control scheme required extensive modeling effort, which was tried to be avoided in this paper.…”

Section: Introductionmentioning

confidence: 99%

Force control of piezoelectric walker

Uzunović

Golubovic²,

Şabanoviç

2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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Abstract-This paper is concerned with the force control of a walking piezoelectric motor, a commercially available Piezo LEGS motor. The motor is capable of providing high precision positioning control on nanometer scale, but also relatively high forces up to 6 N. The proposed force control algorithm is very simple, but effective, and it is based on a recently presented coordinate transformation. The transformation allows definition of the driving waveforms for the motor according to a desired motion of the motor legs in the plane of motion. Such a possibility opens a path for creating the y-direction interaction force between the motor legs and the rod which is enough to ensure no relative motion between the legs and the rod. Once that is achieved, one can control the x-direction force imposed by the motor rod on its environment. The presented force control scheme has been successfully validated through a series of experiments.

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Force control of a piezoelectric actuator based on a statistical system model and dynamic compensation

Cited by 22 publications

References 25 publications

Piezo LEGS Driving Principle Based on Coordinate Transformation

Piezo LEGS Driving Principle Based on Coordinate Transformation

Dynamic Hysteresis Model and Control Methodology for Force Output Using Piezoelectric Actuator Driving

Force control of piezoelectric walker

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