Title :
Predictive control of piezoelectric actuators with friction drive mechanism
Author :
Hashimoto, Seiji ; Kondo, Toshifumi ; Goka, Shigeki
Author_Institution :
Dept. of Electron. Eng., Gunma Univ., Kiryu
Abstract :
This paper presents a model-based ultra-precision stage control that utilizes a contact-type non-resonant ultrasonic actuator. The linear actuator is the synchronous piezoelectric device driver (SPIDER), which has the strong non-linearity due to the friction drive mechanism. Therefore, the friction characteristics are at first experimentally evaluated. Next, focusing on the non-linear property of the friction, the control object is identified by the system identification strategy. Then, the model-based friction compensation and model predictive position control based on the identified model are performed. Two predictive control methods with the friction compensation are compared and evaluated through the positioning experiments. Moreover, the robustness of the designed predictive control system to load uncertainties is analyzed.
Keywords :
control system synthesis; electric drives; friction; piezoelectric actuators; position control; predictive control; ultrasonic devices; SPIDER; contact-type nonresonant ultrasonic actuator; friction characteristics; friction drive mechanism; load uncertainty analysis; model predictive position control; model-based friction compensation; model-based ultra-precision stage control; nonlinear property; piezoelectric actuator predictive control; positioning experiment; synchronous piezoelectric device driver device; system identification strategy; Control systems; Friction; Hydraulic actuators; Nonlinear control systems; Piezoelectric actuators; Piezoelectric devices; Position control; Predictive control; Predictive models; System identification; friction compensation; precision positioning; predictive control; system identification; ultrasonic actuator;
Conference_Titel :
Ultrasonics Symposium, 2008. IUS 2008. IEEE
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2428-3
Electronic_ISBN :
978-1-4244-2480-1
DOI :
10.1109/ULTSYM.2008.0453