Piezoelectric actuators are widely used for precise micro-positioning. The ability of fine positioning is strictly under the effect of hysteresis nonlinear behavior. Simultaneous micro-positioning in multi-dimensions has also attracted much attention in recent years. In addition to hysteresis behavior, a nonlinear dynamic coupling exists between the different degrees of freedom in multi-axis piezoelectric actuators. The nonlinear coupling phenomenon is called the Axes Coupling Effect (ACE). A modified Prandtl–Ishlinskii (PI) operator and its inverse are utilized for both the identification and real time compensation of the hysteresis effect in this article. Considering the PI estimation error and probable un-modeled dynamics, a variable structure controller coupled with the neural network is proposed for position tracking. Due to the model-based structure of the proposed controller, the dynamic model of actuator should be identified. Coupling between nonlinear hysteresis behavior and the linear dynamic model causes a complicated identification. The ACE has also an unknown trend. Eliminating the necessity of dynamic parameters and ACE identification, a Radial Basis Function (RBF) neural network approach would estimate the unknown dynamics of the designed controller. Stability of the controller in the presence of estimated unknown dynamics is demonstrated analytically. Experimental results depict that the proposed approach can achieve precise tracking of multi-frequency trajectories and appropriate estimation of unknown dynamics.
Accepté le :
Publié le :
Hamed Ghafarirad 1, 2 ; S.M. Rezaei 1, 2 ; M. Zareinejad 2 ; M. Hamdi 3 ; R. Jaberzadeh Ansari 1, 2
@article{CRMECA_2012__340_9_646_0,
author = {Hamed Ghafarirad and S.M. Rezaei and M. Zareinejad and M. Hamdi and R. Jaberzadeh Ansari},
title = {Robust control with unknown dynamic estimation for multi-axial piezoelectric actuators with coupled dynamics},
journal = {Comptes Rendus. M\'ecanique},
pages = {646--660},
publisher = {Elsevier},
volume = {340},
number = {9},
year = {2012},
doi = {10.1016/j.crme.2012.07.003},
language = {en},
}
TY - JOUR AU - Hamed Ghafarirad AU - S.M. Rezaei AU - M. Zareinejad AU - M. Hamdi AU - R. Jaberzadeh Ansari TI - Robust control with unknown dynamic estimation for multi-axial piezoelectric actuators with coupled dynamics JO - Comptes Rendus. Mécanique PY - 2012 SP - 646 EP - 660 VL - 340 IS - 9 PB - Elsevier DO - 10.1016/j.crme.2012.07.003 LA - en ID - CRMECA_2012__340_9_646_0 ER -
%0 Journal Article %A Hamed Ghafarirad %A S.M. Rezaei %A M. Zareinejad %A M. Hamdi %A R. Jaberzadeh Ansari %T Robust control with unknown dynamic estimation for multi-axial piezoelectric actuators with coupled dynamics %J Comptes Rendus. Mécanique %D 2012 %P 646-660 %V 340 %N 9 %I Elsevier %R 10.1016/j.crme.2012.07.003 %G en %F CRMECA_2012__340_9_646_0
Hamed Ghafarirad; S.M. Rezaei; M. Zareinejad; M. Hamdi; R. Jaberzadeh Ansari. Robust control with unknown dynamic estimation for multi-axial piezoelectric actuators with coupled dynamics. Comptes Rendus. Mécanique, Volume 340 (2012) no. 9, pp. 646-660. doi : 10.1016/j.crme.2012.07.003. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/j.crme.2012.07.003/
[1] Piezo-electro mechanical (PEM) structures: passive vibration control using distributed piezoelectric transducers, C. R. Mecanique, Volume 331 (2003), pp. 69-76
[2] Preisach modelling of piezoceramic and shape memory alloy hysteresis, Smart Materials and Structures, Volume 6 (1997), pp. 287-300
[3] Systems with Hysteresis, Nauka, Moscow, 1983
[4] Hysteresis and Phase Transitions, Springer, New York, 1996
[5] Differential Models of Hysteresis, Springer, Berlin, 1994
[6] Feedforward controller with inverse rate-dependent model for piezoelectric actuators in trajectory tracking applications, IEEE Transactions on Mechatronics, Volume 12 (2007), pp. 1-8
[7] Observer-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay, Robotics and Autonomous Systems, Volume 55 (2007), pp. 609-617
[8] Robust multiple-frequency trajectory tracking control of piezoelectrically-driven micro/nano-positioning systems, IEEE Trans. Control Syst. Technol., Volume 15 (2007) no. 5, pp. 867-878
[9] Robust adaptive control of coupled parallel piezo-flexural nanopositioning stages, IEEE/ASME Transactions on Mechatronics, Volume 14 (2009) no. 1, pp. 11-20
[10] Adaptive sliding mode control with perturbation estimation and PID sliding surface for motion tracking of a piezo-driven micromanipulator, IEEE Transactions on Control Systems Technology, Volume 18 (2009), pp. 798-810
[11] Observer-based sliding mode control with adaptive perturbation estimation for micropositioning actuators, Precision Engineering, Volume 35 (2011), pp. 271-281
[12] X. Zhang, Y. Tan, R. Dong, Y. Xie, A model based compensator for rate-dependent hysteresis in piezoelectric actuators, in: International Conference on Advanced Intelligent Mechatronics, 2010, pp. 896–901.
[13] S. Yu, B. Shirinzadeh, G. Alici, J. Smith, Sliding mode control of a piezoelectric actuator with neural network compensating rate-dependent hysteresis, in: International Conference on Robotics and Automation, 2005, pp. 3641–3645.
[14] Feasibility study of robust neural network motion tracking control of piezoelectric actuation systems for micro/nano manipulation, Recent Progress in Robotics, LNCIS, vol. 370, 2008, pp. 5-19
[15] Neural network motion tracking control of piezo-actuated flexure-based mechanisms for micro-/nanomanipulation, IEEE/ASME Transactions on Mechatronics, Volume 14 (2009) no. 5, pp. 517-527
[16] Precision control of a piezo-actuated micro telemanipulation system, International Journal of Precision Engineering and Manufacturing, Volume 11 (2010) no. 1, pp. 55-65
Cité par Sources :
Commentaires - Politique