Control of a positioning system with structural flexibility using piezoelectric transducers

Author

Moallem, M. ; Kermani, M.R. ; Pate, R.V. ; Ostojic, M.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont., Canada

Volume

5

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

4505

Abstract

This paper addresses the control problem for a structurally flexible positioning system by utilizing lead zirconate titanate (PZT) piezoelectric transducers to act as actuator and sensor elements. It is shown that proper placement of PZT actuators can result in less torque requirements for these actuators. Furthermore, a nonlinear control scheme is developed and augmented with a friction compensation term. Experimental results are presented which illustrate the effectiveness of the control algorithm and improved performance of the controller as compared to the case where no secondary actuation is used.

Keywords

flexible structures; intelligent actuators; nonlinear control systems; piezoelectric transducers; position control; actuator; controller; friction compensation; lead zirconate titanate; nonlinear control scheme; piezoelectric transducers; positioning system; secondary actuation; sensor elements; structural flexibility; Computer aided manufacturing; Control systems; Intelligent actuators; Magnetic materials; Piezoelectric transducers; Shape memory alloys; Torque; Vectors; Vehicle dynamics; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272254

Filename

1272254