Details
| Translated title of the contribution | Mehrdimensionale Kompensation piezoelektrischer Aktoren mittels rekursiver Datenbasen |
|---|---|
| Original language | English |
| Pages (from-to) | 656-664 |
| Number of pages | 9 |
| Journal | At-Automatisierungstechnik |
| Volume | 66 |
| Issue number | 8 |
| Publication status | Published - 10 Aug 2018 |
Abstract
Piezoelectric actuators are subject to nonlinear effects when voltage-driven in open-loop control. In particular, hysteresis and creep effects are dominating nonlinearities that significantly deteriorate performance in tracking control scenarios. In this paper, we present an online compensator suitable for piezoelectric actuators that is based on the modified Prandtl-Ishlinskii model and utilizes recursive databases for the compensation of nonlinearities. The compensator scheme is furthermore extended to systems with more than one degree of freedom (DOF) such as Cartesian manipulators by employing a decoupling control design to mitigate inherent cross-coupling disturbances. In order to validate our theoretical derivations, experiments are conducted with coupled trajectories on a commercial 3-DOF micro-positioning unit driven by piezoelectric actuators.
Keywords
- Entkopplungssteuerung, Hysterese, Kompensation, Piezoelektrische Aktoren
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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In: At-Automatisierungstechnik, Vol. 66, No. 8, 10.08.2018, p. 656-664.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Multi-DOF compensation of piezoelectric actuators with recursive databases
AU - Schindlbeck, Christopher
AU - Pape, Christian
AU - Reithmeier, Eduard
PY - 2018/8/10
Y1 - 2018/8/10
N2 - Piezoelectric actuators are subject to nonlinear effects when voltage-driven in open-loop control. In particular, hysteresis and creep effects are dominating nonlinearities that significantly deteriorate performance in tracking control scenarios. In this paper, we present an online compensator suitable for piezoelectric actuators that is based on the modified Prandtl-Ishlinskii model and utilizes recursive databases for the compensation of nonlinearities. The compensator scheme is furthermore extended to systems with more than one degree of freedom (DOF) such as Cartesian manipulators by employing a decoupling control design to mitigate inherent cross-coupling disturbances. In order to validate our theoretical derivations, experiments are conducted with coupled trajectories on a commercial 3-DOF micro-positioning unit driven by piezoelectric actuators.
AB - Piezoelectric actuators are subject to nonlinear effects when voltage-driven in open-loop control. In particular, hysteresis and creep effects are dominating nonlinearities that significantly deteriorate performance in tracking control scenarios. In this paper, we present an online compensator suitable for piezoelectric actuators that is based on the modified Prandtl-Ishlinskii model and utilizes recursive databases for the compensation of nonlinearities. The compensator scheme is furthermore extended to systems with more than one degree of freedom (DOF) such as Cartesian manipulators by employing a decoupling control design to mitigate inherent cross-coupling disturbances. In order to validate our theoretical derivations, experiments are conducted with coupled trajectories on a commercial 3-DOF micro-positioning unit driven by piezoelectric actuators.
KW - Entkopplungssteuerung
KW - Hysterese
KW - Kompensation
KW - Piezoelektrische Aktoren
UR - http://www.scopus.com/inward/record.url?scp=85051502063&partnerID=8YFLogxK
U2 - 10.1515/auto-2017-0136
DO - 10.1515/auto-2017-0136
M3 - Article
AN - SCOPUS:85051502063
VL - 66
SP - 656
EP - 664
JO - At-Automatisierungstechnik
JF - At-Automatisierungstechnik
SN - 0178-2312
IS - 8
ER -