This paper presents a new control scheme for the hysteresis compensation and precise positioning of a piezoelectrically actuated micromanipulator. The scheme employs an inverse Dahl model-based feedforward in combination with a repetitive proportional-integral-derivative feedback control algorithm along with an antiwindup strategy. The dynamic model of the system with Dahl hysteresis is established and identified through particle swarm optimization approach. The necessity of using global optimization and how to choose the model parameters to be optimized are addressed as well. The effectiveness of the proposed controller is demonstrated by several experimental studies on an XY parallel micromanipulator. Experimental results reveal that both antiwindup and repetitive control strategies can improve the positioning accuracy of the system, and a well performance of the proposed scheme for both one-dimensional tracking and two-dimensional contouring tasks of the micromanipulator is achieved. Moreover, due to a simple structure, the proposed methodology can be easily generalized to other micro- or nanomanipulators with piezoelectric actuation as well.
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July 2010
Research Papers
Dahl Model-Based Hysteresis Compensation and Precise Positioning Control of an XY Parallel Micromanipulator With Piezoelectric Actuation
Qingsong Xu,
Qingsong Xu
Department of Electromechanical Engineering, Faculty of Science and Technology,
e-mail: qsxu@umac.mo
University of Macau
, Avenue Padre Tomás Pereira S. J., Taipa Macao SAR 3001, China
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Yangmin Li
Yangmin Li
Department of Electromechanical Engineering, Faculty of Science and Technology,
e-mail: ymli@umac.mo
University of Macau
, Avenue Padre Tomás Pereira S. J., Taipa Macao SAR 3001, China
Search for other works by this author on:
Qingsong Xu
Department of Electromechanical Engineering, Faculty of Science and Technology,
University of Macau
, Avenue Padre Tomás Pereira S. J., Taipa Macao SAR 3001, Chinae-mail: qsxu@umac.mo
Yangmin Li
Department of Electromechanical Engineering, Faculty of Science and Technology,
University of Macau
, Avenue Padre Tomás Pereira S. J., Taipa Macao SAR 3001, Chinae-mail: ymli@umac.mo
J. Dyn. Sys., Meas., Control. Jul 2010, 132(4): 041011 (12 pages)
Published Online: June 18, 2010
Article history
Received:
March 16, 2009
Revised:
March 30, 2010
Online:
June 18, 2010
Published:
June 18, 2010
Citation
Xu, Q., and Li, Y. (June 18, 2010). "Dahl Model-Based Hysteresis Compensation and Precise Positioning Control of an XY Parallel Micromanipulator With Piezoelectric Actuation." ASME. J. Dyn. Sys., Meas., Control. July 2010; 132(4): 041011. https://doi.org/10.1115/1.4001712
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