Precision Position Control of Piezoelectric Actuator Using Feedforward Hysteresis Compensation and Neural Network

히스테리시스 앞먹임과 신경회로망을 이용한 압전 구동기의 정밀 위치제어

  • 김형석 (울산대학교 기계자동차공학과 대학원) ;
  • 이수희 (울산대학교 기계자동차공학과 대학원) ;
  • 안경관 (울산대학교 기계자동차 공학부) ;
  • 이병룡 (울산대학교 기계자동차공학부)
  • Published : 2005.07.01

Abstract

This work proposes a new method for describing the hysteresis non-linearity of a piezoelectric actuator. The hysteresis behaviour of piezoelectric actuators, including the minor loop trajectory, are modeled by geometrical relationship between a reference major loop and its minor loops. This hysteresis model is transformed into inverse hysteresis model in order to output compensated voltage with regard to the given input displacement. A feedforward neural network, which is trained by a feedback PID control module, is incorporated to the inverse hysteresis model to compensate unknown dynamics of the piezoelectric system. To show the feasibility of the proposed feedforward-feedback controller, some experiments have been carried out and the tracking performance was compared to that of simple PTD controller.

Keywords

References

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