Sliding mode control of the inchworm displacement with hysteresis compensation

This paper proposes a new modeling scheme to describe the hysteresis and the preload characteristics of piezoelectric stack actuators in the inchworm. From the analysis of piezoelectric stack actuator behavior, the hysteresis can be described by the functions of a maximum input voltage and the prelo...

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Bibliographic Details
Published inInternational journal of precision engineering and manufacturing Vol. 10; no. 3; pp. 43 - 49
Main Authors Kim, Insoo, Kim, Yeung-Shik, Park, Eun-Cheol
Format Journal Article
LanguageEnglish
Published New York Springer US 01.07.2009
Subjects
Engineering
Industrial and Production Engineering
Materials Science
System identification in frequency domain
Inchworm
Kalman filter
Residual vibration
Hysteresis
Sliding mode control
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Summary:This paper proposes a new modeling scheme to describe the hysteresis and the preload characteristics of piezoelectric stack actuators in the inchworm. From the analysis of piezoelectric stack actuator behavior, the hysteresis can be described by the functions of a maximum input voltage and the preload. The dynamic characteristics are also identified by the frequency domain modeling technique based on the experimental data. The hysteresis is compensated by the inverse hysteresis model for precise control of inchworm displacement. Since the dynamic stiffness of an inchworm is generally low compared to its driving condition, the mechanical vibration may degrade accuracy of the inchworm. Therefore, the SMC (Sliding Mode Control) and the Kalman filter are developed for the motion control of the inchworm. The feasibility of the proposed modeling scheme and the control algorithm is tested and verified experimentally.
ISSN:2234-7593
2005-4602
DOI:10.1007/s12541-009-0046-8