Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Precision Position Control of Piezoactuator Using Inverse Hysteresis Model and Neuro-PID Controller

역히스테리시스 모델과 PID-신경회로망 제어기를 이용한 압전구동기의 정밀 위치제어

  • 김정용 (울산대학교 기계공학과) ;
  • 이병룡 (울산대학교 기계ㆍ자동차공학부) ;
  • 양순용 (울산대학교 기계ㆍ자동차공학부) ;
  • 안경관 (울산대학교 기계ㆍ자동차공학부)
  • Published : 2003.01.01
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Abstract

A piezoelectric actuator yields hysteresis effect due to its composed ferroelectric. Hysteresis nonlinearty is neglected when a piezoelectric actuator moves with short stroke. However when it moves with long stroke and high frequency, the hysteresis nonlinearty can not be neglected. The hysteresis nonlinearty of piezoelectric actuator degrades the control performance in precision position control. In this paper, in order to improve the control performance of piezoelectric actuator, an inverse modeling scheme is proposed to compensate the hysteresis nonlinearty. And feedforward - feedback controller is proposed to give a good tracking performance. The Feedforward controller is an inverse hysteresis model, base on neural network and the feedback control is implemented with PID control. To show the feasibility of the proposed controller and hysteresis modeling, some experiments have been carried out. It is concluded that the proposed control scheme gives good tracking performance.

Keywords

References

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