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A Dynamic Hysteresis Model and Nonlinear Control System for a Structure-Integrated Piezoelectric Sensor-Actuator
Xiaobiao Shan1, Henan Song1, Han Cao1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel, Switzerland)
|January 6, 2021
Summary
This study introduces a novel structure-integrated piezoelectric sensor-actuator for micro-precision systems. A Proportion Integral Differential (PID) control system utilizing a dynamic hysteresis model significantly improves control accuracy in dynamic applications.
Area of Science:
- Mechatronics and Robotics
- Materials Science and Engineering
- Control Systems Engineering
Background:
- Piezoelectric sensor-actuators are crucial for micro-precision dynamic systems like medical robots.
- Miniaturization of these components is essential for enhanced performance and integration.
- High-precision position control is a key requirement for these advanced mechanisms.
Discussion:
- A structure-integrated piezoelectric sensor-actuator was designed and manufactured using a centralized parameter method for dynamic modeling.
- A dynamic hysteresis nonlinear model and its inverse model were developed, analyzing hysteresis curves up to 0.26 μm.
- The study compares static and dynamic models, highlighting the dynamic model's superior compensation accuracy at higher frequencies.
Key Insights:
- The developed dynamic hysteresis model accurately captures nonlinear behavior in piezoelectric sensor-actuators.
- An inverse model-based control system was proposed and simulated.
- Simulation results demonstrate a fourfold reduction in output root mean square error, validating the control system's effectiveness.
Outlook:
- The structure-integrated piezoelectric sensor-actuator and its control system offer significant advancements for micro high-precision dynamic systems.
- Further research could explore real-world implementation and performance optimization in diverse micro-robotic applications.
- This work paves the way for more sophisticated and accurate control of miniaturized electromechanical systems.
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