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.
Zusammenfassung
Spannungsgesteuerte piezoelektrische Aktoren unterliegen dominanten nichtlinearen Effekten. Dabei sorgen insbesondere Hysterese- und Kriecheffekte für einen signifikanten Performanzverlust bei Folgesteuerungen. Für die Kompensation der genannten Nichtlinearitäten präsentieren wir hier einen Online-Kompensator auf der Basis eines modifizierten Prandtl-Ishlinskii Models mittels rekursiver Datenbasen. Dieses Kompensationsverfahren kann auch für Systeme mit mehreren Freiheitsgraden, wie beispielsweise kartesische Manipulatoren, mittels einer Entkopplungssteuerung zur Minderung der inhärenten mechanischen Kopplungseffekte erweitert werden. Für die Validierung der theoretischen Herleitungen werden gekoppelte Trajektorien auf einer kommerziellen piezo-getriebenen Mikropositioniereinheit mit mehreren Freiheitsgraden ausgeführt.
About the authors
Christopher Schindlbeck is a research assistant of the control engineering working group at the Institute of Measurement and Automatic Control at the Leibniz Universiät Hannover. He received his Diplom degree in mathematics in science and engineering at the Technical University of Munich in 2012. His research interests include control theory, robotics, optics, and machine learning.
Christian Pape is the head of the control engineering working group at the Institute of Measurement and Automatic Control at the Leibniz Universiät Hannover, where he worked in the robotics and control engineering lab and received his doctoral degree in 2011. His research interests include robotics and control engineering, image-based control and in-process metrology.
Eduard Reithmeier has been the head of the Institute of Measurement and Automatic Control since 1996. Prior to this time, he was employed as the technical director of the Bodenseewerk Gerätetechnik GmbH. His current research interests include production metrology, in-process metrology, optical metrology, control engineering, active noise cancellation and biomedical engineering.
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