Acceleration control of stacked piezoelectric actuator utilizing disturbance observer and reaction force observer

Shinnosuke Yamaoka, Takahiro Nozaki, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

Stacked piezoelectric actuators are suitable for micro manipulation since it has a high positional resolution and large generative force. However, it is difficult to control acceleration of piezoelectric actuator because of its hysteresis characteristic and spring characteristic. Therefore in this paper, piezo disturbance observer (PDOB) is proposed. Because PDOB treats hysteresis characteristic and spring characteristic as disturbance and compensates these elements, acceleration control is achieved. In addition, piezo reaction force observer (PRFOB) is proposed. By eliminating spring force from disturbance, PRFOB estimates the reaction force without utilizing any force sensors. Validities of PDOB and PRFOB are verified by experiments. Finally, experiment of micro-macro bilateral control (MMBC) constructed a master system and slave system is performed. The master system is a linear motor with conventional disturbance observer (DOB) and reaction force observer (RFOB). The slave system is a stacked piezoelectric actuator with PDOB and PRFOB. It achieved MMBC between a linear motor and a piezoelectric actuator.

本文言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版ステータスPublished - 2012 6 4
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3 252012 3 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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