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

10 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月 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月 252012 3月 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
国/地域Bosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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