Name
Abstract | ||
|---|---|---|
An piezoelectric ultrasonic motor (USM) is a kind of motor which offers high precision and fast response. It is widely used in industrial and medical applications and precision engineering in the forms of micromanipulator, surgical instruments and robots, etc. This paper presents a control strategy for a linear USM stage. The model of the USM is built and its parameters are identified. The PID controller is used and a LQR-assisted approach is developed and applied in order to help to find optimal PID parameters and achieve the advantages of optimal control. A nonlinear compensation including a sign function and sliding mode control is designed to compensate the nonlinear dynamics including friction and hysteresis. The control system is implemented on a dSPACE control card. The experimental results show that the LQR-assisted PID tuning achieves a performance better than the traditional tuning method such as relay-based PID tuning. Moreover, the nonlinear compensation is capable of improving the system performance significantly. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/AIM.2013.6584086 | AIM |
Keywords | Field | DocType |
compensation,control system synthesis,friction,hysteresis,linear motors,motion control,nonlinear control systems,optimal control,three-term control,ultrasonic motors,variable structure systems,lqr-assisted pid tuning,lqr-assisted approach,pid controller,dspace control card,linear usm stage control strategy,linear piezoelectric ultrasonic motor stage,nonlinear dynamics compensation design,optimal pid parameters,parameter identification,precision motion control,sign function,sliding mode control,system performance improvement,tuning,control systems,oscillators,mathematical model,acoustics | Ultrasonic motor,Motion control,Optimal control,PID controller,Control theory,Computer science,Control engineering,Control system,Linear motor,Micromanipulator,Sliding mode control | Conference |
ISSN | ISBN | Citations |
2159-6247 | 978-1-4673-5319-9 | 4 |
PageRank | References | Authors |
1.06 | 3 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenyu Liang | 1 | 20 | 11.00 |
| Su-Nan Huang | 2 | 505 | 61.65 |
| Si-Lu Chen | 3 | 89 | 15.74 |
| Kok Kiong Tan | 4 | 923 | 99.57 |