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Motion Control of Piezoelectric Tripod Platform via Feedforward Hysteresis Compensation
Author(s) -
Kim HyeongGeon,
Kim JongNam,
Na TaeWon,
Park KwangChun,
Oh IlKwon
Publication year - 2018
Publication title -
advanced materials technologies
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.184
H-Index - 42
ISSN - 2365-709X
DOI - 10.1002/admt.201800298
Subject(s) - feed forward , tripod (photography) , control theory (sociology) , piezoelectricity , hysteresis , actuator , motion control , compensation (psychology) , slider , control engineering , engineering , computer science , acoustics , physics , mechanical engineering , control (management) , robot , artificial intelligence , electrical engineering , psychology , quantum mechanics , psychoanalysis
In this study, a precise motion control strategy for a piezoelectric tripod manipulator integrated with compliant mechanisms based on feedforward hysteresis compensation and feedback control is reported. The piezoelectric tripod platform is designed with three piezoelectric legs to produce large transverse stroke and angular motions with three degrees‐of‐freedom (3‐DOF). The piezoelectric actuation legs, which are made with four piezoelectric stack actuators and reverse‐type compliant mechanisms, have highly nonlinear inherent hysteresis, resulting in critical difficulties of accurate motion control. To properly compensate inherent hysteresis of the present 3‐DOF tripod manipulator stemming from interaction between piezoelectric stack actuators and compliant amplification mechanisms, a feedforward hysteresis control is successfully implemented with a third‐order rate‐dependent polynomial fit. Present results reveal that the feedforward compensator based on the rate‐dependent hysteresis model and feedback control integrated with rate‐independent compensator can be successfully applied to the motion control of the piezoelectric 3‐DOF tripod manipulator with severe inherent hysteresis.