Premium
Two Degree‐Of‐Freedom Online Compensation of a Piezoelectric Micro‐Positioning Unit
Author(s) -
Schindlbeck Christopher,
Pape Christian,
Reithmeier Eduard
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710375
Subject(s) - compensation (psychology) , mechatronics , control theory (sociology) , feed forward , nonlinear system , piezoelectricity , actuator , computer science , inverse , compensation methods , hysteresis , degree (music) , control engineering , engineering , control (management) , physics , acoustics , mathematics , artificial intelligence , psychology , geometry , quantum mechanics , digital marketing , world wide web , psychoanalysis , return on marketing investment
Due to their almost unlimited resolution and fast dynamics, piezoelectric actuators are a common choice for mechatronic systems targeting positioning tasks with high demands on precision. However, these piezoelectric actuators inherently suffer from nonlinear characteristics (mainly hysteresis and creep effects) which need to be addressed by appropriate control strategies. The operator‐based modified Prandtl‐Ishlinksii (mPI) approach does not only model hysteresis effects with asymmetries and creep effects but also provides an analytical solution for its inverse model. Online feedforward compensation of the aforementioned nonlinear effects can be realized by using the inverse model and additional weight adaptation. In this paper, online compensation via the mPI model is applied to a commercial micro‐positioning unit driven by piezoelectric actuators with more than one degree of freedom (DOF). For validation of the proposed approach, two coupled trajectories in the X ‐ Y plane are utilized. Subsequent tracking error analysis validates the efficacy of the stated approach. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)