Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
권호 표지
DOI QR코드

DOI QR Code

Precise Control of Inchworm Displacement Using the LQG/LTR Technique

LQG/LTR 기법을 이용한 이송자벌레 변위의 정밀 제어

  • Jeon, Yoon-Han (Department of Liveral Arts & Teacher Training, Kumoh National Institute of Technology) ;
  • Hwang, Yun-Sik (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Park, Heung-Seok (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Kim, In-Soo (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
  • Received : 2015.03.26
  • Accepted : 2015.06.22
  • Published : 2015.08.15
Download PDF
⟨ Previous Next ⟩

Abstract

In this study, the linear quadratic Guassian loop transfer recovery (LQG/LTR) control technique was combined with an integrator and applied to an inchworm having piezoelectric actuators for precise motion tracking. The piezoelectric actuator showed nonlinear response characteristics, including hysteresis, due to its ferroelectric characteristics and the residual displacement phenomenon. This paper proposes a feedback control scheme using the LQG/LTR controller with an integrator to improve the ability to track the response to complex input signals and to suppress the phenomenon of hysteresis and residual vibration. Experimental results show that the developed feedback control system for an inchworm can track the various motion contours quickly without residual vibration or overshoot.

Keywords

References

  1. Robers, C. A., 1988, Smart Materials, Structures, and Mathematical Issues, Technomic Publishing Co., Inc, 147-155.
  2. Park, J. S., Jeong, K. W., 2006, Robust Control for a Ultra-precision Stage System, The Korean Society of Mechanical Engineers, 30:9 1094-1101. https://doi.org/10.3795/KSME-A.2006.30.9.1094
  3. Kim, I. S., Kim, Y. S., Park, E. C., 2009, Sliding Mode Control of the Inchworm Displacement with Hysteresis Compensation, International Journal of Precision Engineering and Manufacturing, 10:3 43-49. https://doi.org/10.1007/s12541-009-0046-8
  4. Goldfarb, M., Celanvovic, N., 1997, A Lumped Parameter Electromechanical Model for Describing the Nonlinear Behavior of Piezoelectric Actuators, Transaction of the ASME, 119:3 478-485.
  5. Ping, G ., Jouaneh, M., 1995, Modeling Hysteresis in Piezoceramic Actuators, Precision Engineering, 17:3 211-221. https://doi.org/10.1016/0141-6359(95)00002-U
  6. Tzen , J. J., Jeng, S. L., Chieng, W. H., 2003, Modeling of Piezoelectric Actuator for Compensation and Controller Design, Precision Engineering, 27:1 70-86. https://doi.org/10.1016/S0141-6359(02)00183-6
  7. Juang, J. N., 1994, Applied System Identification, Prentice Hall, New Jersey.
  8. Lee, S.R, 2013, Controller Parameter Design of Direct Drive Servo Valve Using Genetic Algorithm and Complex Method, Transaction of the KSME, 37:4 475-481.
  9. Athans, M., 1986, Lecture Notes on Multivariable Control System, MIT, USA.
  10. Kim, J. S., 1987, Nonlinear Multivariable Control Using Statistical Linearization and Loop Transfer Recovery, A Thesis for a Doctorate, MIT, USA.

Cited by

  1. 부하 변동을 갖는 자벌레의 모델기준 적응제어 vol.28, pp.3, 2018, https://doi.org/10.5050/ksnve.2018.28.3.280