Dynamic linear modeling, identification and precise control of a walking piezo-actuated stage

Li, Pengzhi ORCID: 0000-0001-8883-1885, Wang, Xiao-Dong, Zhao, Lei, Zhang, De-Fu and Guo, Kang (2019) Dynamic linear modeling, identification and precise control of a walking piezo-actuated stage. Mechanical Systems and Signal Processing, 128. pp. 141-152. doi:10.1016/j.ymssp.2019.03.037

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Abstract

In this paper, a dynamic model is firstly investigated for a flexible mechanical stage driven by a walking piezoelectric actuator (WPA). The developed model takes into account the WPA, the mechanical stage and moreover the connection part between them as an overall piezo-actuated stage. The model of the WPA is derived mainly from the electrical, piezoelectric and mechanical sides. Besides, the WPA and mechanical stage are treated as elements with lumped mass. Then the proposed model is identified based on the open-loop frequency response data. Finally, hybrid closed-loop controllers are designed for point-to-point (PTP) positioning and sinusoidal trajectory tracking control of the overall piezo-actuated stage. The hybrid control strategy includes displacement error feedback and velocity feed-forward control algorithms. Furthermore, the transient profile and tracking differentiator is proposed for quick settling of PTP positioning control, and the discrete-time repetitive controller (RC) is adopted to enhance the tracking precision for the periodic sinusoidal trajectory. Experimental results show that for the 300 m PTP positioning the settling time is 0.12 s to keep the steady error within 25 nm, and for the sinusoidal trajectory of 50 m amplitude the maximum tracking error is 1.99%. These results clearly demonstrate the high precision performance of the developed hybrid controllers for the walking piezo-actuated stage.

Item Type: Article
Article Type: Article
Uncontrolled Keywords: Walking Piezoelectric actuator; Frequency response; Hybrid control; Trajectory tracking; Tracking differentiatorRepetitive control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Schools and Research Institutes > School of Computing and Engineering > Engineering Technologies
Research Priority Areas: Applied Business & Technology
Depositing User: Pengzhi Li
Date Deposited: 14 Dec 2020 12:26
Last Modified: 14 Dec 2020 12:30
URI: http://eprints.glos.ac.uk/id/eprint/9068

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