Tracking Control of an Ultrasonic Linear Motor Actuated Stage Using a Sliding-mode Controller with Friction Compensation
|
|
- Juliana Cameron McDowell
- 5 years ago
- Views:
Transcription
1 Vol. 3, No., pp. 3-39() Tracking Control of an Ultrasonic Linear Motor Actuated Stage Using a Sliding-mode Controller with Friction Compensation Chih-Jer Lin,*, Ming-Jia Li and Kai-Ren Liu Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei, Taiwan, ROC * Corresponding Author / cjlin@ntut.edu.tw KEYWORDS : Ultrasonic motor(usm), Particle swarm optimization(pso), Charge search system(css), Feed forward controller, High-gain observer, Disturbance observer, Sliding mode control, Back-propagation neural network controller The purpose of this paper is to investigate the nonlinear friction and compensation for a piezoelectric ceramic ultrasonic motor (USM). Although the architecture of the USM is different from the general electric-mechanical motor, the mathematic model for the USM motor can use the same friction model to formulate the friction phenomenon. To establish the feedforward controller, the system identification for the USM is needed to study to design the model-based controller. To obtain the optimal system parameters of the USM, PSO and CSS algorithms are studied to identify the system parameters for the nonlinear friction model. For the controller design, a non-model based controller, using back-propagation neural network controller to perform tracking tasks, and the model-based controller, which consists of the feed-forward controller based on the system identification and the sliding-mode control, are discussed in this paper. Finally, the two real-time tracking tasks are used to validate the proposed method. Manuscript received: April 8, / Accepted: May,. Introduction. Modeling of the USM system The movement principle of an USM relies on the piezoelectric effect. Curie brothers found the crystal piezoelectric effect in 88. Since then, the piezoelectric material field has been developed. An USM has also been widely used in our daily applications, e.g. the camera lenses, micro optical stage or the medical engineering. Also, the USM is currently a micro-moving component being aggressively researched and developed in the industries. In general, the sound frequency range of ~ khz can be sensed by human ears. An ultrasonic wave is a vibration with vibration frequency of more than khz. Therefore, the driving force of an USM is obtained by way of ultrasonic vibration and the stage s slider is driven by using the friction []. The USM has become a product in more demands in the last decade and many different types of USM have been developed. However, its motion mode is similar with each other without considering the mechanism design and the movements are based on the longitudinal mode or the lateral mode. After these two modes are combined, an elliptical motion appears between the stator and the rotor. Although the moving distance is not large per step, the speed of the moving stage depends on the vibration frequency. However, the heat due to the friction effect may cause a problem for the precise positioning of the stage. In this study, a USM stage is developed as shown in Fig. and the friction compensation is studied in this paper. Fig. shows the experimental positioning stage which consists of a single-axis stage and a piezoelectric ceramic ultrasonic motor (USM). As the ceramic structure is twisted from deformation of the electrode through the electric field, the deformation makes the rotor push the stage and actuate the stage to move laterally. For the driving control architecture, a motor driver for the USM is set up in velocity mode. In addition, the moving stage is equipped with an optical encoder and a linear scale to feedback the displacement of the stage. The optical scale has the resolution of.µm in order to meet the requirement of micrometer or submicron. For the controller design, a real-time control system (dspace DS) is used to realize the proposed control. Fig. Schematics of the experimental stage SoildWorks 3
2 Vol. 3, No., pp. 3-39() Consider the simplified mathematical model for the USM and Fig. shows the equivalent free-body diagram, where m s is the stage mass; x s is the differential of the stage displacement, i.e. the stage moving speed; f f is the friction occurs between the slides of the sliding stages; f t is the tangential force caused by the stator. As the voltage is applied to the actuator, the stator of the USM is deformed. If the tangential force f t which pushes the sliding stage is less than the friction f f, the sliding stage will not move. Otherwise, if the tangential force f t is larger than the friction, the stator will make the stage move as the friction f f is overcome. To compensate the friction effect, we must measure the friction model for designing the feed-forward controller Fig. Stick slip response of the stage s velocity Fig. The actuation principle of the USM 3. Parameter identification for the friction model with algorithms 3. Measurement of system friction To measure the nonlinear friction phenomenon, a dynamic friction measurement experiment is used to investigate the stick-slip effect which usually appears at the zero-speed crossover point []. The physical phenomenon of dynamic friction is described by the relationship between the input force (voltage) and the stage s velocity. In this study, a sinusoid voltage with amplitude of (V) at the frequency of (HZ) is shown in Fig. 3. The measurement result of the stage s velocity is shown in Fig.. Figs. 3 and are used to identify the system parameters in the next section. 3. System parameter identification using the CSS and PSO To identify the system parameters, two algorithms are studied to improve the modeling precision. One is the charge search system (CSS) [3] and the other one is the particle swarm optimization (PSO) []. In this study, we integrated the CSS with the PSO algorithm and combined the advantages of each algorithm. First, the CSS is used in the first iterations and then the PSO takes over the work after the th iteration. Fig. shows the comparison of the simulation result using the obtained system parameter with the actual velocity response. The results in Fig. show that the identified model is very similar to the actual model. - - sim exp Fig. Comparison of the simulation with the actual velocity response 3 voltage(v) Fig. 3 Sinusoid input with the amplitude of (V) at Hz. Controllers design. Controller architecture In this paper, we implemented the controllers including the controller, the high-gain observer, the feed-forward controller and the disturbance observer []. The controller was used to improve the system stability in the position loop and the transient response. The high-gain observer was used to solve the discontinuous problem of the velocity which is obtained from the displacement signal. The feed-forward controller was used to compensate for the nonlinear due 36
3 Vol. 3, No., pp. 3-39() to the friction. The disturbance observer was responsible for handling the modeling uncertainties and external disturbance... High-gain observer For the tracking control problem of the mechanical system, a positioning sensor is usually used for the feedback control. However, the velocity signal is obtained using the difference relation between the position signal and the sampling time. As the noise of the sensor system appears, there is a discontinuous problem for the velocity computation. Therefore, a high-gain observer is used to estimate the velocity of the mechanical system to deal the above problem. For the mechanical system in this paper, the input force is denoted as Tt () and the motion equation can be described as follows. My t Tt T yt () * () () f ( ()) x x x M ( T) () n n where M R n is the system inertia matrix; T R is the system * n control torque; Tf ( y ( t)) R is the nonlinear friction term; x y[ y y ] T n is the position of the mechanical system; x y [ y y ] T n is the velocity. If the velocity x is unknown, the estimated velocity can be obtained using the following Equations (3) and () []: performance of the feed-forward compensation depends on the accuracy of the friction model. If the estimated friction term ˆF is not the same as the actual friction F (shown in Fig. 6), it will lead to some problem. Therefore, the disturbance observer is introduced to deal with this problem. Fig. 6 Schematics of feed-forward compensation..3 Disturbance observer As the above mentioned, the disturbance observer is used to deal with the mismatched term of the system modelling. The block diagram of the disturbance observer is shown in Fig. 7. x ˆ xˆ ( ˆ ) Hp xx xˆ H ( ˆ ) v xx (3) () n n, where xr xr is the estimated values for x ; x, is a small positive scalar; H p H v are the positive definite matrice, and H H p I v is a Hurwitz matrix. Define the error of the observor is described as follows. x x xˆ, x x xˆ, z x, z x () Fig. 7 Block diagram of the disturbance observer For convenience of explanation, let us first assume that Q(s) =, and we can derive the following: P n ˆ ˆ d ( ) u d (8) P P The observer error equations can be determined from (3), () and () and we have: z z Hpz (6) z Hvz M ( T) (7).. Feed-forward controller In the tracking experiments, the nonlinear friction makes the moving stage have stick-slip phenomena at the zero-speed crossover point as shown in Fig.. Therefore, the tracking error cannot be dismissed completely by the feedback controller. Therefore, a feedforward compensation is necessary for this case study. As discussed in the above, the LuGre friction model is identified in Section 3. Therefore, the feed-forward compensation can be designed using the LuGre model with the identified parameters. However, the where P is the actual model; P n is the nominal model; d is the external disturbance; ˆd is the observed disturbance; is the measurement noise. From the equation, we can find that as Pn P, the item ˆd obtained from the observer is the sum of disturbance and noise, which can be used to effectively estimate the influence of the actual disturbance and the noise. Conversely, if the item P n is not approximate to the system transfer function, there exists a difference between the estimated disturbance and noise and actual ones.. Sliding mode control The sliding mode control is divided into two stages. As any initial state does not contract with the sliding surface, this case is called the reaching mode. After the state locates at the sliding surface, it is called the sliding mode [6]. Ideally, the time for the reaching mode may influence the robustness of the control system. After the state 37
4 Vol. 3, No., pp. 3-39() falls in the sliding surface, the robustness of the system is guaranteed, because the state does not leave the sliding surface and it will be attracted to the origin; this condition is called the sliding-mode condition. To make the state arrive at the sliding surface as soon as possible, a switching control should be applied to make the state fall into the sliding surface and the equivalent control is used to make the state move to the origin along with the sliding surface..3 Integral type sliding mode control Define a new sliding-mode surface is defined as follows [7]: s e ce c edt (9) On the other hand, we apply the simulated controller in the experiment and Fig. 9 shows the comparison of the actual control voltage with the simulated control output. From Fig. 9, the experimental results validate that the simulation is correct. voltage(v) 6 3 sim exp - Consider the estimated friction as f according to the LuGre friction model, the modeling uncertainty is defined as follows. f f f d where f d is the actual friction. () As the same as the design for the traditional sliding mode controller, the equivalent control can be obtained as Eq. (). Therefore, the total control is described as Eq. (). ueq f m( xd ce ce) () uf m( x ce c e) wsgn( s) () d Result and discussion. Simulation and validation Before the feedback controllers are implemented to the USM system, the feed-forward compensation is discussed firstly. Fig. 8 shows the comparison of the open-loop response with the experimental results using the proposed feed-forward compensation. Although the compensated result is different from the reference, the stick slip phenomena is disappear Fig. 9 Comparison of the simulation with the actual input voltage. Experimental results After the discussion of the feed-forward compensation, the six proposed controllers are implemented to the USM system. Table shows the tracking root-mean-square error (RMSE) for these six controllers. From the experimental results in Table, the proposed ISMC+FF+HGO+DOB has the best performance of the tracking task for the USM system. Fig. shows the compassion between the six different controllers and Fig. shows the differences between the tradition sliding-mode controller and the integral sliding-mode controller. From the results of Fig., the proposed ISMC+FF+HGO+DOB controller has the smallest tracking error among these six different controllers. Fig. shows that the tracking error of the integral sliding-mode controller is smaller than the one of the traditional sliding-mode controller Table Comparison of each controller (Unit: µm) Controller Frequency Travel +FF +FF+ HGO mm FF Open loop Hz mm mm mm Controller +FF+ SMC+FF+ ISMC+FF+HGO+DOB Frequency Travel HGO+DOB HGO+DOB mm Fig. 8 Feed-forward compensation for the USM stage Hz mm mm.8...mm
5 Vol. 3, No., pp. 3-39() Displacement(mm) 6 - Ref +FF +FF+HGO +FF+HGO+DOB VSS+FF+HGO+DOB In this paper, to compensate the nonlinear friction of the USM, the LuGue model is used to describe the stick-slip friction phenomena. Then, the optimization algorithm is used to identify the system friction parameter; the CSS+PSO algorithm shows that the identified model is very similar to the actual model from Fig.. For the control architecture, a controller is used to guarantee the system stability and ensure that the system has good transient state error. Then, a feedforward controller is used to compensate for the system friction and the high-gain observer is used to solve the discontinuity of the velocity estimation. The disturbance observer is used to overcome the external disturbance to achieve the precision tracking. The experimental shows that the proposed ISMC+FF+HGO+DOB controller has the best performance. REFERENCES Displacement(mm) error(mm) Ref +FF +FF+HGO Fig. The tracking response of each controller 6 x -3 +FF+HGO+DOB VSS+FF+HGO+DOB SMC ISMC Fig. Tracking error comparison between the SMC and ISMC [] M. Umeda, T. Nakazawa, K. Ohnishi, K. Nakamura, M. Kurosawa, and S. Ueha, Positioning characteristic of ultrasonic rotary actuator with two mode operation, Proc. IEEE Ultrasonics Symposium, pp., December (99) DOI:.9/ULTSYM.99.7 [] D. Karnopp, Computer simulation of slip-stick friction in mechanical dynamic systems ASME Journal of Dynamic Systems, Measurement and Control, 7, -3 (98) DOI:./.3698 [3] A. Kaveh, S. Talatahari, A novel heuristic optimization method: charged system search Acta Mechanica, 3, () DOI:.7/s [] J. Kennedy, R. Eberhart, Particle swarm optimization, Proceedings of the IEEE, International Conference on Neural Networks Perth (ICNN 9), pp.9 98, (99) DOI:.9/ICNN [] J. A. Heredia, W. Yu, A high-gain observer-based PD control for robot manipulator, Proceedings of the American Control Conference (ACC ), IEEE Press, pp.8-, June () DOI:.9/ACC [6] J. J. E. Slotine, W. Li, Applied nonlinear control (Prentice-Hall, New Jersey, New Jersey 99) [7] H. C. Liaw, B. Shirinzadeh, Constrained motion tracking control of piezo-actuated flexure-based four-bar mechanisms for Micro/Nano manipulation IEEE Transactions on Automation Science and Engeering, 7,699-7 () DOI:.9/TASE.9.36 [8] B. Armstrong-Hélouvry, P. Dupont, and C. C. De Wit, A survey of models, analysis tools and compensation methods for the control of machines with friction Automatica, 3, (99) DOI:.6/-98(9) Conclusion 39
Chapter 2 Surface Acoustic Wave Motor Modeling and Motion Control
Chapter 2 Surface Acoustic Wave Motor Modeling and Motion Control 1 Abstract For miniaturization of ultrasonic transducers, a surface acoustic wave device has an advantage in rigid mounting and high-power-density
More informationFriction Modeling and Compensation for Haptic Interfaces
Friction Modeling and Compensation for Haptic Interfaces Nicholas L. Bernstein * Dale A. Lawrence * Lucy Y. Pao (*) University of Colorado, Aerospace Engineering, USA ( ) University of Colorado, Electrical
More informationQUICK AND PRECISE POSITION CONTROL OF ULTRASONIC MOTORS USING ADAPTIVE CONTROLLER WITH DEAD ZONE COMPENSATION
Journal of ELECTRICAL ENGINEERING, VOL. 53, NO. 7-8, 22, 197 21 QUICK AND PRECISE POSITION CONTROL OF ULTRASONIC MOTORS USING ADAPTIVE CONTROLLER WITH DEAD ZONE COMPENSATION Li Huafeng Gu Chenglin A position
More informationS.-W. Ricky Lee, M.-L. Zhu & H.L. Wong Department of Mechanical Engineering, Hong Kong University of Science & Technology, Hong Kong
Modeling for prototyping of rotary piezoelectric motors S.-W. Ricky Lee, M.-L. Zhu & H.L. Wong Department of Mechanical Engineering, Hong Kong University of Science & Technology, Hong Kong Abstract A new
More informationAnalysis and Model-Based Control of Servomechanisms With Friction
Analysis and Model-Based Control of Servomechanisms With Friction Evangelos G. Papadopoulos e-mail: egpapado@central.ntua.gr Georgios C. Chasparis e-mail: gchas@seas.ucla.edu Department of Mechanical Engineering,
More informationSurface Acoustic Wave Motor using Feed Back Controller with Dead Zone Linearization
Surface Acoustic Wave Motor using Feed Back Controller with Dead Zone Linearization *1 *1 *2 Minoru Kuribayashi KUROSAWA (Mem.), Takaya SUZUKI and Katsuhiko ASAI Potential of surface acoustic wave (SAW)
More informationAn Adaptive LQG Combined With the MRAS Based LFFC for Motion Control Systems
Journal of Automation Control Engineering Vol 3 No 2 April 2015 An Adaptive LQG Combined With the MRAS Based LFFC for Motion Control Systems Nguyen Duy Cuong Nguyen Van Lanh Gia Thi Dinh Electronics Faculty
More informationEvaluation of a surface acoustic wave motor with a multi-contact-point slider
Smart Mater. Struct. 7 (1998) 305 311. Printed in the UK PII: S0964-1726(98)91230-7 Evaluation of a surface acoustic wave motor with a multi-contact-point slider Minoru Kuribayashi Kurosawa, Makoto Chiba
More informationAn Energy Circulation Driving Surface Acoustic Wave Motor
An Energy Circulation Driving Surface Acoustic Wave Motor Minoru K. Kurosawa Tokyo Institute of Technology Yokohama, Japan mkur@ae.titech.ac.jp Purevdagva Nayanbuu Tokyo Institute of Technology Yokohama,
More informationNonlinear Adaptive Robust Control. Theory and Applications to the Integrated Design of Intelligent and Precision Mechatronic Systems.
A Short Course on Nonlinear Adaptive Robust Control Theory and Applications to the Integrated Design of Intelligent and Precision Mechatronic Systems Bin Yao Intelligent and Precision Control Laboratory
More informationSurface Acoustic Wave Linear Motor
Proc. of 3rd Int. Heinz Nixdorf Symp., pp. 113-118, Paderborn, Germany, May, 1999 Surface Acoustic Wave Linear Motor Minoru Kuribayashi Kurosawa and Toshiro Higuchi Dept. of Precision Machinery Engineering,
More informationThe Feedforward Friction Compensation of Linear Motor Using Genetic Learning Algorithm
Proceedings of the 7th World Congress The International Federation of Automatic Control Seoul, Korea, July 6-, 8 The Feedforward Friction Compensation of Linear Motor Using Genetic Learning Algorithm Chin-Sheng
More informationIntegration simulation method concerning speed control of ultrasonic motor
Integration simulation method concerning speed control of ultrasonic motor R Miyauchi 1, B Yue 2, N Matsunaga 1 and S Ishizuka 1 1 Cybernet Systems Co., Ltd. 3 Kanda-neribeicho,Chiyoda-ku, Tokyo,101-0022,Japan
More informationACTIVE CONTROL STICK DRIVEN BY A PIEZO ELECTRIC MOTOR
Reprint of a contributed paper published at the 3rd Int. Symposium on Advanced Electromechanical Motion Systems 999, Patras (Greece), July 8-9, 999. ACTIVE CONTROL STICK DRIVEN BY A PIEZO ELECTRIC MOTOR
More informationStator/Rotor Interface Analysis for Piezoelectric Motors
Stator/Rotor Interface Analysis for Piezoelectric Motors K Harmouch, Yves Bernard, Laurent Daniel To cite this version: K Harmouch, Yves Bernard, Laurent Daniel. Stator/Rotor Interface Analysis for Piezoelectric
More informationDEVELOPMENT OF A BAR-SHAPED ULTRASONIC MOTOR FOR MULTI-DEGREES OF FREEDOM MOTION
DEVELOPMENT OF A BAR-SHAPED ULTRASONIC MOTOR FOR MULTI-DEGREES OF FREEDOM MOTION Kenjiro Takemura KEIO University, Yokohama, Kanagawa, JAPAN, m982468@msr.st.keio.ac.jp Nobuyuki Kojima Canon Inc., Ohta-ku,
More informationSensorless Sliding Mode Control of Induction Motor Drives
Sensorless Sliding Mode Control of Induction Motor Drives Kanungo Barada Mohanty Electrical Engineering Department, National Institute of Technology, Rourkela-7698, India E-mail: kbmohanty@nitrkl.ac.in
More informationAdaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties
Australian Journal of Basic and Applied Sciences, 3(1): 308-322, 2009 ISSN 1991-8178 Adaptive Robust Tracking Control of Robot Manipulators in the Task-space under Uncertainties M.R.Soltanpour, M.M.Fateh
More informationGAIN SCHEDULING CONTROL WITH MULTI-LOOP PID FOR 2- DOF ARM ROBOT TRAJECTORY CONTROL
GAIN SCHEDULING CONTROL WITH MULTI-LOOP PID FOR 2- DOF ARM ROBOT TRAJECTORY CONTROL 1 KHALED M. HELAL, 2 MOSTAFA R.A. ATIA, 3 MOHAMED I. ABU EL-SEBAH 1, 2 Mechanical Engineering Department ARAB ACADEMY
More informationROBUST FRICTION COMPENSATOR FOR HARMONIC DRIVE TRANSMISSION
Proceedings of the 1998 IEEE International Conference on Control Applications Trieste, Italy 1-4 September 1998 TAO1 12:lO ROBUST FRICTION COMPENSATOR FOR HARMONIC DRIVE TRANSMISSION H.D. Taghirad K. N.
More informationOpen Access Permanent Magnet Synchronous Motor Vector Control Based on Weighted Integral Gain of Sliding Mode Variable Structure
Send Orders for Reprints to reprints@benthamscienceae The Open Automation and Control Systems Journal, 5, 7, 33-33 33 Open Access Permanent Magnet Synchronous Motor Vector Control Based on Weighted Integral
More informationA Sliding Mode Control based on Nonlinear Disturbance Observer for the Mobile Manipulator
International Core Journal of Engineering Vol.3 No.6 7 ISSN: 44-895 A Sliding Mode Control based on Nonlinear Disturbance Observer for the Mobile Manipulator Yanna Si Information Engineering College Henan
More informationFriction Drive Simulation of a SAW Motor with Slider Surface Texture Variation
Advances in Science and Technology Vol. 54 (28) pp 366-371 online at http://www.scientific.net (28) Trans Tech Publications, Switzerland Online available since 28/Sep/2 Friction Drive Simulation of a SAW
More informationInfluence of the gap and the friction on trajectory reproduction accuracy in a multiaxis machine with CNC
Influence of the gap and the friction on trajectory reproduction accuracy in a multiaxis machine with CNC O. V. Pas 1, N. A. Serkov 2 Blagonravov Institute of Engineering Science, Russian Academy of Sciences,
More informationUltrasonic Liear Motor using Traveling Surface Acoustic Wave
.9/ULTSYM.9.5 Ultrasonic Liear Motor using Traveling Surface Acoustic Wave Minoru Kuribayashi Kurosawa Dept. of Information Processing Tokyo Institute of Technology Yokohama, Japan mkur@ip.titech.ac.jp
More informationMODELING AND SIMULATION OF HYDRAULIC ACTUATOR WITH VISCOUS FRICTION
MODELING AND SIMULATION OF HYDRAULIC ACTUATOR WITH VISCOUS FRICTION Jitendra Yadav 1, Dr. Geeta Agnihotri 1 Assistant professor, Mechanical Engineering Department, University of petroleum and energy studies,
More informationMEMS Gyroscope Control Systems for Direct Angle Measurements
MEMS Gyroscope Control Systems for Direct Angle Measurements Chien-Yu Chi Mechanical Engineering National Chiao Tung University Hsin-Chu, Taiwan (R.O.C.) 3 Email: chienyu.me93g@nctu.edu.tw Tsung-Lin Chen
More informationPERIODIC signals are commonly experienced in industrial
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 15, NO. 2, MARCH 2007 369 Repetitive Learning Control of Nonlinear Continuous-Time Systems Using Quasi-Sliding Mode Xiao-Dong Li, Tommy W. S. Chow,
More informationA method for matching the eigenfrequencies of longitudinal and torsional vibrations in a hybrid piezoelectric motor
First published in: Journal of Sound and Vibration 295 (2006) 856 869 JOURNAL OF SOUND AND VIBRATION www.elsevier.com/locate/jsvi A method for matching the eigenfrequencies of longitudinal and torsional
More informationModification of the Leuven Integrated Friction Model Structure
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 47, NO. 4, APRIL 2002 683 Modification of the Leuven Integrated Friction Model Structure Vincent Lampaert, Jan Swevers, and Farid Al-Bender Abstract This note
More informationExponential Controller for Robot Manipulators
Exponential Controller for Robot Manipulators Fernando Reyes Benemérita Universidad Autónoma de Puebla Grupo de Robótica de la Facultad de Ciencias de la Electrónica Apartado Postal 542, Puebla 7200, México
More informationLyapunov Stability of Linear Predictor Feedback for Distributed Input Delays
IEEE TRANSACTIONS ON AUTOMATIC CONTROL VOL. 56 NO. 3 MARCH 2011 655 Lyapunov Stability of Linear Predictor Feedback for Distributed Input Delays Nikolaos Bekiaris-Liberis Miroslav Krstic In this case system
More informationQ-Motion Precision Linear Stage
Q-Motion Precision Linear Stage High Forces and Small Design Due to Piezo Motors Q-545 Only 45 mm in width Push/pull force 8 N Incremental sensors with position resolution XY combinations without adapter
More informationA Sliding Mode Controller Using Neural Networks for Robot Manipulator
ESANN'4 proceedings - European Symposium on Artificial Neural Networks Bruges (Belgium), 8-3 April 4, d-side publi., ISBN -9337-4-8, pp. 93-98 A Sliding Mode Controller Using Neural Networks for Robot
More informationAn ARX-Based PID-Sliding Mode Control on Velocity Tracking Control of a Stick-Slip Piezoelectric-Driven Actuator
Modern Mechanical Engineering, 2015, 5, 10-19 Published Online February 2015 in SciRes. http://www.scirp.org/journal/mme http://dx.doi.org/10.4236/mme.2015.51002 An ARX-Based PID-Sliding Mode Control on
More informationPRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS. Bin Yao
PRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS Bin Yao Intelligent and Precision Control Laboratory School of Mechanical Engineering Purdue University West
More informationThe Effect of the Static Striebeck Friction in the Robust VS/Sliding Mode Control of a Ball-Beam System
The Effect of the Static Striebeck Friction in the Robust VS/Sliding Mode Control of a -Beam System József K. Tar, János F. Bitó Institute of Intelligent Engineering Systems, Budapest Tech Bécsi út 96/B,
More informationPiezoelectric sensing and actuation CEE575
Piezoelectric sensing and actuation CEE575 Sensor: Mechanical energy to electrical energy Actuator: Electrical energy converted to mechanical energy (motion) Materials For many years, natural crystals
More information433. New linear piezoelectric actuator based on traveling wave
433. New linear piezoelectric actuator based on traveling wave D. Mažeika 1, P. Vasiljev 2, G. Kulvietis 3, S. Vaičiulien 4 1,3 Vilnius Gediminas Technical University, Saul tekio al. 11, Vilnius, LT-10223,
More informationFriction Compensation for Precise Positioning System using Friction-Model Based Approach
Friction Compensation for Precise Positioning System using Friction-Model Based Approach Chiew, T. H., Jamaludin, Z., Bani Hashim, A. Y., Rafan, N. A., and Abdullah, L. Faculty of Manufacturing Engineering,
More informationPiezoelectric Actuators and Future Motors for Cryogenic Applications in Space
Piezoelectric Actuators and Future Motors for Cryogenic Applications in Space Christian Belly*, Francois Barillot* and Fabien Dubois * Abstract The purpose of this paper is to present the current investigation
More informationJoint Torque Control for Backlash Compensation in Two-Inertia System
Joint Torque Control for Backlash Compensation in Two-Inertia System Shota Yamada*, Hiroshi Fujimoto** The University of Tokyo 5--5, Kashiwanoha, Kashiwa, Chiba, 227-856 Japan Phone: +8-4-736-3873*, +8-4-736-43**
More informationResearch Article Forward and Reverse Movements of a Linear Positioning Stage Based on the Parasitic Motion Principle
Advances in Mechanical Engineering, Article ID 45256, 7 pages http://dx.doi.org/1.1155/214/45256 Research Article Forward and Reverse Movements of a Linear Positioning Stage Based on the Parasitic Motion
More informationPiezoactuators. Jiří Tůma
Piezoactuators Jiří Tůma 1 Domain Piezoelectric effect Direct piezoelectric effect discovered the brothers Pierre and Jacques Curie. They found that certain crystalline materials (ceramics) having the
More informationGain Scheduling Control with Multi-loop PID for 2-DOF Arm Robot Trajectory Control
Gain Scheduling Control with Multi-loop PID for 2-DOF Arm Robot Trajectory Control Khaled M. Helal, 2 Mostafa R.A. Atia, 3 Mohamed I. Abu El-Sebah, 2 Mechanical Engineering Department ARAB ACADEMY FOR
More information2044. Dynamics analysis for the clamping mechanisms of a rotary inchworm piezoelectric motor
2044. Dynamics analysis for the clamping mechanisms of a rotary inchworm piezoelectric motor Yongfei Gu 1, Jichun Xing 2 1, 2 School of Mechanical Engineering, Yanshan University, Qinhuangdao, China 1
More informationDevelopment of the Screw-driven Motors by Stacked Piezoelectric Actuators
Proceedings of the 4th IIAE International Conference on Industrial Application Engineering 2016 Development of the Screw-driven Motors by Stacked Piezoelectric Actuators Shine-Tzong Ho a,*, Hao-Wei Chen
More informationInput Constraints Sliding Mode Control Based on RBF Network Compensation Mengya Hou 1,a, Huanqiang Chen 2,b
International Conference on Information Sciences, Machinery, Materials and Energy (ICISMME 5) Input Constraints Sliding Mode Control Based on RBF Network Compensation Mengya Hou,a, Huanqiang Chen,b Jiangxi
More informationDISTURBANCE OBSERVER BASED CONTROL: CONCEPTS, METHODS AND CHALLENGES
DISTURBANCE OBSERVER BASED CONTROL: CONCEPTS, METHODS AND CHALLENGES Wen-Hua Chen Professor in Autonomous Vehicles Department of Aeronautical and Automotive Engineering Loughborough University 1 Outline
More informationAn adaptive sliding mode control scheme for induction motor drives
An adaptive sliding mode control scheme for induction motor drives Oscar Barambones, Patxi Alkorta, Aitor J. Garrido, I. Garrido and F.J. Maseda ABSTRACT An adaptive sliding-mode control system, which
More informationAdaptive Robust Precision Control of Piezoelectric Positioning Stages
Proceedings of the 5 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Monterey, California, USA, 4-8 July, 5 MB3-3 Adaptive Robust Precision Control of Piezoelectric Positioning
More informationPassivity-based Control of Euler-Lagrange Systems
Romeo Ortega, Antonio Loria, Per Johan Nicklasson and Hebertt Sira-Ramfrez Passivity-based Control of Euler-Lagrange Systems Mechanical, Electrical and Electromechanical Applications Springer Contents
More informationHigh-Precision Control for Ball-Screw-Driven Stage in Zero-Speed Region by Explicitly Considering Elastic Deformation
MEC-13-162 High-Precision Control for Ball-Screw-Driven Stage in Zero-Speed Region by Explicitly Considering Elastic Deformation Hongzhong Zhu, Hiroshi Fujimoto (The University of Tokyo) Abstract Ball--driven
More informationTHE stick-slip friction system is known to exhibit very
306 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 7, NO. 3, MAY 1999 Dual Mode Control of a System with Friction Shih-Jung Huang, Jia-Yush Yen, Member, IEEE, and Shui-Shong Lu Abstract The stick-slip
More informationObserver Based Friction Cancellation in Mechanical Systems
2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Oct. 22 25, 2014 in KINTEX, Gyeonggi-do, Korea Observer Based Friction Cancellation in Mechanical Systems Caner Odabaş
More informationAdaptive Robust Control of Linear Motor Systems with Dynamic Friction Compensation Using Modified LuGre Model
Proceedings of the 8 IEEE/ASME International Conference on Advanced Intelligent Mechatronics July - 5, 8, Xi'an, China Adaptive Robust Control of Linear Motor Systems with Dynamic Friction Compensation
More informationResearch Article Design and Fabrication of the Large Thrust Force Piezoelectric Actuator
Advances in Materials Science and Engineering Volume 2013, Article ID 912587, 5 pages http://dx.doi.org/10.1155/2013/912587 Research Article Design and Fabrication of the Large Thrust Force Piezoelectric
More informationVeröffentlichungen am IKFF. Properties of a Piezoelectric Travelling Wave Motor Generating Direct Linear Motion
Veröffentlichungen am IKFF Properties of a Piezoelectric Travelling Wave Motor Generating Direct Linear Motion Eigenschaften eines piezoelektrischen Wanderwellenmotors als Lineardirektantrieb M. Hermann,
More informationA Novel Method on Disturbance Analysis and Feed-forward Compensation in Permanent Magnet Linear Motor System
A Novel Method on Disturbance Analysis and Feed-forward Compensation in Permanent Magnet Linear Motor System Jonghwa Kim, Kwanghyun Cho, Hojin Jung, and Seibum Choi Department of Mechanical Engineering
More informationSingle-phase driven ultrasonic motor using two orthogonal bending modes of sandwiching. piezo-ceramic plates
Single-phase driven ultrasonic motor using two orthogonal bending modes of sandwiching piezo-ceramic plates Yuting Ma 1,2, Minkyu Choi 2 and Kenji Uchino 2 1 CAS Key Lab of Bio-Medical Diagnostics, Suzhou
More informationThe Design of Sliding Mode Controller with Perturbation Estimator Using Observer-Based Fuzzy Adaptive Network
ransactions on Control, utomation and Systems Engineering Vol. 3, No. 2, June, 2001 117 he Design of Sliding Mode Controller with Perturbation Estimator Using Observer-Based Fuzzy daptive Network Min-Kyu
More informationieee transactions on ultrasonics, ferroelectrics, and frequency control, vol. 45, no. 5, september
ieee transactions on ultrasonics, ferroelectrics, and frequency control, vol. 45, no. 5, september 1998 1229 Elastic Contact Conditions to Optimize Friction Drive of Surface Acoustic Wave Motor Minoru
More informationControlled Ultrasonic Motor for Servo-Drive Applications
Reprint of a contributed paper published at the 4th European Conf. on Smart Structures and Materials - 2nd Int. Conf on Micromechanics, Intelligent Materials and Robotics 998 (MIMR 98), Harrogate, (UK),
More informationModeling and Motion Control of a Magnetically Navigated Microrobotic System
Proceedings of the 3 rd International Conference on Control, Dynamic Systems, and Robotics (CDSR 16) Ottawa, Canada - May 9-10, 2016 Paper No. 102 DOI: 10.11159/cdsr16.102 Modeling and Motion Control of
More informationDevelopment of a new linear actuator for Androids
8 IEEE International Conference on Robotics and Automation Pasadena, CA, USA, May 19-3, 8 Development of a new linear actuator for Androids Masayuki MISHIMA, Hiroshi ISHIGURO and Katsuhiro HIRATA, Member,
More informationUltrasonic linear actuator using coupled vibration
J. Acoust. Soc. Jpn. (E)11, 4 (1990) Ultrasonic linear actuator using coupled vibration Kazumasa Ohnishi* and Kenjyo Yamakoshi** Niigata Division, ALPS Electric Co., Ltd., 1-3-5, Higashitakami, Nagaoka,
More informationA RECEDING HORIZON CONTROL FOR LIFTING PING-PONG BALL. Sumiko Majima and Keii Chou
A RECEDING HORIZON CONROL FOR LIFING PING-PONG BALL Sumiko Majima and Keii Chou Graduate School of Systems and Information Engineering, University of sukuba, sukuba, Ibaraki, Japan Abstract: his paper
More informationControl Using Sliding Mode Of the Magnetic Suspension System
International Journal of Electrical & Computer Sciences IJECS-IJENS Vol:10 No:03 1 Control Using Sliding Mode Of the Magnetic Suspension System Yousfi Khemissi Department of Electrical Engineering Najran
More informationCarlos Canudas de Wit. ENSIEG-INPG, BP 46, 38402, ST. Martin d'heres, France. ultrasonic motor. more sophisticated friction model of the form:
CONTROL OF FRICTION-DRIVEN SYSTEMS Carlos Canudas de Wit Laboratoire d'automatique de Grenoble, UMR CNRS 558 ENSIEG-INPG, BP 46, 384, ST. Martin d'heres, France canudas@lag.ensieg.inpg.fr Abstract There
More informationAdaptive NN Control of Dynamic Systems with Unknown Dynamic Friction
Adaptive NN Control of Dynamic Systems with Unknown Dynamic Friction S. S. Ge 1,T.H.LeeandJ.Wang Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Abstract
More informationFrequency Domain Identification of Dynamic Friction Model Parameters
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 10, NO. 2, MARCH 2002 191 Frequency Domain Identification of Dynamic Friction Model Parameters Ron H. A. Hensen, Marinus (René) J. G. van de Molengraft,
More informationA Model-Free Control System Based on the Sliding Mode Control Method with Applications to Multi-Input-Multi-Output Systems
Proceedings of the 4 th International Conference of Control, Dynamic Systems, and Robotics (CDSR'17) Toronto, Canada August 21 23, 2017 Paper No. 119 DOI: 10.11159/cdsr17.119 A Model-Free Control System
More informationA High Power Piezoelectric Ultrasonic Linear Micromotor Using Slotted Stator
Proceedings of 20 th International Congress on Acoustics, ICA 2010 23-27 August 2010, Sydney, Australia A High Power Piezoelectric Ultrasonic Linear Micromotor Using Slotted Stator Cheol-Ho Yun (1), Brett
More informationComputing Optimized Nonlinear Sliding Surfaces
Computing Optimized Nonlinear Sliding Surfaces Azad Ghaffari and Mohammad Javad Yazdanpanah Abstract In this paper, we have concentrated on real systems consisting of structural uncertainties and affected
More informationRAPID positioning devices with accuracies on the order
IEEE TRANSACTIONS ON ULTRASONICS, FERROELECTRICS, AND FREQUENCY CONTROL, VOL. 43, NO. 5, SEPTEMBER 1996 901 Ultrasonic Linear Motor Using Surface Acoustic Waves Minoru Kurosawa, Member, IEEE, Masakazu
More informationPHENOMENA, THEORY AND APPLICATIONS OF NEAR-FIELD ACOUSTIC LEVITATION
PHENOMENA, THEORY AND APPLICATIONS OF NEAR-FIELD ACOUSTIC LEVITATION PACS REFERENCE: 43.25.Uv Ueha Sadayuki Precision and Intelligence Laboratory, Tokyo Institute of Technology 4259, Nagatsuta, Midori-ku,
More informationFriction Compensation for a Force-Feedback Teleoperator with Compliant Transmission
Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission Mohsen Mahvash and Allison M. Okamura Department of Mechanical Engineering Engineering Research Center for Computer-Integrated
More informationOn-line Learning of Robot Arm Impedance Using Neural Networks
On-line Learning of Robot Arm Impedance Using Neural Networks Yoshiyuki Tanaka Graduate School of Engineering, Hiroshima University, Higashi-hiroshima, 739-857, JAPAN Email: ytanaka@bsys.hiroshima-u.ac.jp
More informationFriction identification in mechatronic systems
ISA Transactions 43 2004 205 216 ISA TRANSACTIONS Friction identification in mechatronic systems Bashir M. Y. Nouri* Department of Mechatronics Engineering, Faculty of Engineering, The Hashemite University,
More informationPosition and Velocity Profile Tracking Control for New Generation Servo Track Writing
Preprints of the 9th World Congress The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 24 Position and Velocity Profile Tracking Control for New Generation Servo Track
More informationRobust motion tracking control of piezoelectric actuation systems
University of Wollongong Research Online Faculty of Engineering - Papers (Archive) Faculty of Engineering and Information Sciences 26 Robust motion tracking control of piezoelectric actuation systems Hwee
More informationAdvanced Adaptive Control for Unintended System Behavior
Advanced Adaptive Control for Unintended System Behavior Dr. Chengyu Cao Mechanical Engineering University of Connecticut ccao@engr.uconn.edu jtang@engr.uconn.edu Outline Part I: Challenges: Unintended
More informationFriction characterization and compensation in electro-mechanical systems
Journal of Sound and Vibration ] (]]]]) ]]] ]]] JOURNAL OF SOUND AND VIBRATION www.elsevier.com/locate/jsvi Friction characterization and compensation in electro-mechanical systems Tegoeh Tjahjowidodo
More informationSpeed Control of PMSM Drives by Using Neural Network Controller
Advance in Electronic and Electric Engineering. ISSN 2231-1297, Volume 4, Number 4 (2014), pp. 353-360 Research India Publications http://www.ripublication.com/aeee.htm Speed Control of PMSM Drives by
More informationSmooth Profile Generation for a Tile Printing Machine
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 3, JUNE 2003 471 Smooth Profile Generation for a Tile Printing Machine Corrado Guarino Lo Bianco and Roberto Zanasi, Associate Member, IEEE Abstract
More informationOptimization of PI Parameters for Speed Controller of a Permanent Magnet Synchronous Motor by using Particle Swarm Optimization Technique
Optimization of PI Parameters for Speed Controller of a Permanent Magnet Synchronous Motor by using Particle Swarm Optimization Technique Aiffah Mohammed 1, Wan Salha Saidon 1, Muhd Azri Abdul Razak 2,
More informationIntelligent Control of a SPM System Design with Parameter Variations
Intelligent Control of a SPM System Design with Parameter Variations Jium-Ming Lin and Po-Kuang Chang Abstract This research is to use fuzzy controller in the outer-loop to reduce the hysteresis effect
More informationFriction Identification for Haptic Display
From Proceeding of the 999 ASME IMECE Nashville, TN November -9. 999 DSC-7B- Identification for Haptic Display Christopher Richard, Mark R. Cutkosky Stanford University Center for Design Research 56 Panama
More information458 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 16, NO. 3, MAY 2008
458 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL 16, NO 3, MAY 2008 Brief Papers Adaptive Control for Nonlinearly Parameterized Uncertainties in Robot Manipulators N V Q Hung, Member, IEEE, H D
More informationStable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum
Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum Sébastien Andary Ahmed Chemori Sébastien Krut LIRMM, Univ. Montpellier - CNRS, 6, rue Ada
More informationSimultaneous Suppression of Badly-Damped Vibrations and Cross-couplings in a 2-DoF Piezoelectric Actuator, by using Feedforward Standard H approach
Simultaneous Suppression of Badly-Damped Vibrations and Cross-couplings in a 2-DoF Piezoelectric Actuator, by using Feedforward Standard H approach Didace HABINEZA, Micky RAKOTONDRABE and Yann LE GORREC
More informationDesign Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain
World Applied Sciences Journal 14 (9): 1306-1312, 2011 ISSN 1818-4952 IDOSI Publications, 2011 Design Artificial Nonlinear Controller Based on Computed Torque like Controller with Tunable Gain Samira Soltani
More informationNonlinear PD Controllers with Gravity Compensation for Robot Manipulators
BULGARIAN ACADEMY OF SCIENCES CYBERNETICS AND INFORMATION TECHNOLOGIES Volume 4, No Sofia 04 Print ISSN: 3-970; Online ISSN: 34-408 DOI: 0.478/cait-04-00 Nonlinear PD Controllers with Gravity Compensation
More informationModeling of Hysteresis Effect of SMA using Neuro Fuzzy Inference System
54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference April 8-11, 2013, Boston, Massachusetts AIAA 2013-1918 Modeling of Hysteresis Effect of SMA using Neuro Fuzzy Inference
More informationUSE OF MECHANICAL RESONANCE IN MACHINES DRIVE SYSTEMS
USE OF MECHANICAL RESONANCE IN MACHINES DRIVE SYSTEMS Wieslaw Fiebig, Jakub Wrobel Wroclaw University of Science and Technology, Faculty of Mechanical Engineering, Lukasiewicza 7/9, 51-370 Wroclaw, Poland
More informationHIL SIMULATION TECHNIQUE FOR NON-MODEL-BASED CONTROL OF DC SERVO-DRIVE WITH FRICTION. Teodor Dumitriu, Mihai Culea, Traian Munteanu, Emil Ceangă
HIL IMULTION TECHNIQUE FOR NON-MODEL-BED CONTROL OF DC ERVO-DRIVE WITH FRICTION Teodor Dumitriu, Mihai Culea, Traian Munteanu, Emil Ceangă Dunărea de os University of Galaţi, Faculty of Electrical Engineering
More informationDesign and experimental research of an improved stick slip type piezodriven linear actuator
Research Article Design and experimental research of an improved stick slip type piezodriven linear actuator Advances in Mechanical Engineering 2015, Vol. 7(9) 1 8 Ó The Author(s) 2015 DOI: 10.1177/1687814015595016
More informationDISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK
DISTURBANCE ATTENUATION IN A MAGNETIC LEVITATION SYSTEM WITH ACCELERATION FEEDBACK Feng Tian Department of Mechanical Engineering Marquette University Milwaukee, WI 53233 USA Email: feng.tian@mu.edu Kevin
More informationMRAGPC Control of MIMO Processes with Input Constraints and Disturbance
Proceedings of the World Congress on Engineering and Computer Science 9 Vol II WCECS 9, October -, 9, San Francisco, USA MRAGPC Control of MIMO Processes with Input Constraints and Disturbance A. S. Osunleke,
More informationSurface Acoustic Wave Atomizer with Pumping Effect
Surface Acoustic Wave Atomizer with Pumping Effect Minoru KUROSAWA, Takayuki WATANABE and Toshiro HIGUCHI Dept. of Precision Machinery Engineering, Faculty of Engineering, University of Tokyo 7-3-1 Hongo,
More information