High-accuracy tracking of piezoelectric positioning stage by using iterative learning controller plus PI control

Yan, Gangfeng; Fang, Hong; Meng, F.

doi:10.1007/s40430-019-1912-7

Cited by 4 publications

(5 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…An ultrasonic motor consists of a plat form that slides on rigid rails and, as such, friction plays a major role in the disturbance that effects the performance of the system. In order to establish the mathematical model of ultrasonic motor control system as accurately as possible, first, we need to briefly describe the types of frictional forces and their mathematical description in the ultrasonic motor systems 16 .…”

Section: Experimental Setup and Dynamic Modelingmentioning

confidence: 99%

“…For repeated tracking tasks, iterative learning control can be used. Iterative learning control obtains the control input that can produce the desired output trajectory by repeatedly applying the information obtained from previous experiments to improve the quality of control 16 , 17 . For most non-repetitive tracking tasks, a series of feedback control schemes have been proposed for high accuracy tracking of ultrasonic motor, such as proportional-integral derivative control 18 , sliding mode control 19 , fuzzy decentralized control 20 and H∞ control 21 , which schemes can achieve acceptable tracking accuracy and interference suppression performance, but due to the low gain margin and inherent sampling delay of the ultrasonic motor, the control performance could be reduced, this is especially true for high frequency tracking tasks.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

High accuracy tracking of ultrasonic motor based on PID operation of sliding surface plus inverse system compensation

Yan

2022

Sci Rep

View full text Add to dashboard Cite

Ultrasonic motor as a actuator of control system is widely used in the equipment driven for the precision manufacturing. In this brief, for the selection of the ultrasonic motor, an approximate time-domain mathematical model was established according to the physical mechanism of the ultrasonic motor. The parameters of the model were identified by using the least square method. Responses of the obtained model to the pulse width signal and the triangular wave signal are approximate consistent with those of the actual system respectively, which show the accuracy of the model. Then, the approach of PID operation of the sliding surface plus the inverse system compensation is proposed, the stability of the controlled system and the selection of the proposed approach parameters were discussed. The conventional PI control method with large gain and the proposed control approach were used to track the same signal. Then, the robustness of the proposed control method was tested, a 0.3 kg load was added to the system while keeping the two controller parameters and tracking signals unchanged, and the tracking effects of the two control methods were obtained. The results show that the proposed control approach has a superior performance compared to the conventional PI control approach.

show abstract

Section: Experimental Setup and Dynamic Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

High accuracy tracking of ultrasonic motor based on PID operation of sliding surface plus inverse system compensation

Yan

2022

Sci Rep

View full text Add to dashboard Cite

show abstract

“…According to the method given in the paper (Yan et al , 2019), by using pulse width signal input, the model of the system can be obtained as follows: where, x ( t ) is the displacement, u ( t ) is the control signal, a 1 is a coefficient describing viscous friction, a 2 is a coefficient describing Coulomb friction. The values of a 1 and a 2 are as follows: …”

Section: Experimental Equipment and Modelsmentioning

confidence: 99%

“…In terms of control, for tracking tasks with repeated displacements, iterative learning control can be used to achieve high-precision control. Iterative learning control is to improve the control quality of the current operation by reusing the information obtained from the previous operation results, a control output signal that can generate the required output track is obtained (Yan et al , 2019). But for most non-repetitive displacement tracking tasks, a series of feedback control schemes have been proposed for high-precision tracking of ultrasonic motors, such as proportional integral derivative control (Yeh et al , 2005), sliding mode control (Xiao and Li, 2013), fuzzy control (Hwang, 2008) and H∞ control (Sebastian and Salapaka, 2005); these control schemes can achieve acceptable tracking accuracy and interference suppression performance, but the control laws used are relatively complex, and the accuracy requirements for the system model are also high.…”

Section: Introductionmentioning

confidence: 99%

Design of adaptive sliding mode controller applied to ultrasonic motor

Yan

2021

View full text Add to dashboard Cite

Purpose The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice. Design/methodology/approach Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors. Findings The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively. Originality/value The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

show abstract

“…The piezoelectric stack actuator model is described by a linear system, as stated in Equations ( 6) and (7). The hysteresis effect is neglected, and the polarization direction is selected along the body stack in vertical axis [44,45]. The piezoelectric stack actuator can be written as:…”

Section: The Modelling Of the Piezo Actuatormentioning

confidence: 99%

Extended PKM Fixturing System for Micro-Positioning and Vibration Rejection in Machining Application

Aggogeri

Pellegrini

Tagliani

2021

Sensors

View full text Add to dashboard Cite

The paper aims to present a mechatronic device able to micro-position the workpiece and to reject disturbances due to machining operation. A decoupling method is proposed for a parallel kinematic machine (PKM) fixturing platform composed by a 3-DoF flexure-based piezo-actuated mechanism. The parallel platform, with a vertical motion and two rotations, is described and its kinematics and dynamics are studied. The coupling undesirable effect is investigated based on a set of poses. To improve the quasi-static regulator model for a set-point following system, a bump less switching controller and a fine-tuning procedure, to estimate the parameter uncertainty and enable the external disturbance containment in an extended broadband frequency range, are presented. The platform and the piezo-actuator controllers are modelled based on a gain scheduling, standard ISA form method, to guarantee the stability. The accuracy is demonstrated through a set of simulations and experimental comparisons. A sensitivity analysis that evaluates the tracking performance and the disturbance rejection based on the number of signal amplitudes, frequencies, and phases is discussed. A validation phase has shown that the developed architecture presents a steady state error lower than 1.2 µm, a vibration reduction of 96% at 1130 Hz with a maximum resolving time of 6.60 ms.

show abstract

High-accuracy tracking of piezoelectric positioning stage by using iterative learning controller plus PI control

Cited by 4 publications

References 19 publications

High accuracy tracking of ultrasonic motor based on PID operation of sliding surface plus inverse system compensation

High accuracy tracking of ultrasonic motor based on PID operation of sliding surface plus inverse system compensation

Design of adaptive sliding mode controller applied to ultrasonic motor

Extended PKM Fixturing System for Micro-Positioning and Vibration Rejection in Machining Application

Contact Info

Product

Resources

About