2 edition of Identification and compensation of nonlinear effects in precision actuator systems found in the catalog.
Identification and compensation of nonlinear effects in precision actuator systems
James Franklin Cuttino
|Statement||James Franklin Cuttino.|
|The Physical Object|
|Pagination||196 p. :|
|Number of Pages||196|
Nonlinear and hysteretic effects must not be a deterrent to the adoption of PAMs as compliant actuators for assistive and rehabilitation robots, since control engineers have developed nonlinear compensation control strategies that can achieve robust trajectory tracking control of rehabilitation exoskeletons  and prostheses .The most efficient compensation strategies rely on gray-box . Feedforward Compensation Use feed-forward controller to increase the actuator dynamics so that it is sufficiently high to be neglected Used the inverse deadband function to compensate the nonlinear deadband Depends on the accuracy of the valve dynamics, can .
3. Hysteresis Modelling of PZT Actuator Standard Bouc-Wen Model. The Bouc-Wen model is first proposed by Bouc in , where a function that describes the hysteresis behaviour between the displacement and restoring force was proposed, and it was then generalized by Wen in .This model consists of a first-order nonlinear state equation and an output equation where the input and. Other issues such as modeling and compensation of nonlinearities and friction in microdrives, disturbance rejection and resonance compensation are also addressed. The techniques and applications involved include: • time- and frequency domain methods for system identification; • physical effect approaches for parameter identification;.
In order to accurately model the hysteresis and dynamic characteristics of piezoelectric stack actuators (PSAs), consider that a linear force and a hysteresis force will be generated by piezoelectric wafers under the voltage applied to a PSA, and the total force suffering from creep will result in the forced vibration of the two-degree-of-freedom mass-spring-damper system composed of the. In recent years, a high-precision stage control has received great attention due to the progress of nano-technology. A fast-response and high-precision control method based on the internal model control in the case where the controlled object has the integral characteristic is reported. The disturbance observer-based internal model control (DIMC) system has the advantages of no-overshoot, easy.
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Analytical and Experimental Identification of Nonlinearities in a Single-Nut, Preloaded Ball Screw which was developed to study the ability of different actuator systems to provide long range motion with nanometer accuracy.
F.,“Identification and Compensation of Nonlinear Effects in Precision Actuator Systems,” Ph.D Cited by: 1. Introduction. Hydraulic actuation systems are widely used in industrial applications due to their high power-to-weight ratio, self-lubrication and high concept of electro-hydrostatic actuator (EHA) was proposed based on the principle of closed-circuit hydrostatic transmission [2, 3], which connects a pump directly to an actuator and achieves variable power transmission by Author: Yan Cai, Guangan Ren, Jinchun Song, Nariman Sepehri.
Note that the measurement of i(t) does not imply that i(t) is the output of a controller. As Fig. 2 shows, i(t) could be the output signal of any (non-) linear system G with the input u(t). for y(k) Identification a n d Compensation of Friction in Mechanical Systems conditionwhich require a movement in one : J.C.
Maron. The advantages of using piezoelectric actuators in ultra-precision applications are often impaired by nonlinear effects, in particular hysteresis, which may lead to positioning uncertainties of up.
PDF | Electro-hydraulic actuator (EHA) system has become one of the most prominent actuator in the past decades. Therefore, it is crucial to attain | Find, read and cite all the research you.
The unknown nonlinear parameters can not be directly measured once the actuators have been manufactured and assembled, which causes a great difficulty in pneumatic system modeling and control.
The advantages of using piezoelectric actuators in ultra-precision applications are often impaired by nonlinear effects, in particular hysteresis, which may lead to positioning uncertainties of up to 15% of the actuator's stroke.
This comes, however, at the expense of increasing identification and implementation complexity, especially when. The book concludes by linking design methods and their applications, emphasizing the key issues involved and how to implement the precision motion control tasks in a practical system.
It provides a concise and comprehensive source of the state-of-the-art developments and results for modeling and control of precise actuators.
Piezoelectric actuator has the advantages of large output force, wide frequency band and fast frequency response. Piezoelectric actuators play an important role in micro nano applications.
However, as a kind of polar material, piezoelectric actuator often shows the nonlinear hysteresis between input current and output displacement.
Actuator nonlinearities are ubiquitous in engineering practice and limit control system performance. While standard feedback control alone cannot handle these nonsmooth nonlinearities effectively, this book, with unified and systematic adaptive design methods developed in 16 chapters, shows how such nonlinear characteristics can be effectively.
In this article, an actuator fault compensation strategy based on both fuzzy logic systems and sliding mode control for nonlinear systems is proposed to guarantee closed-loop stability in the. Modeling and Control of Precision Actuators explores new technologies that can ultimately be applied in a myriad of industries.
It covers dynamical analysis of precise actuators and strategies of design for various control applications. The book addresses four main schemes: modeling and control of p. In particular, the multilayer neural network (MNN) is effectively used in nonlinear discrete-time system identification and control.
Although a lot of researches have been done on the neural network application to the hysteresis [ 10, 11 ], the neural network compensation for the current-driven reluctance actuator with hysteresis has yet to.
Zheng, C., Su, Y., and Mercorelli, P. (August 5, ). "Single Robust Proportional-Derivative Control for Friction Compensation in Fast and Precise Motion Systems With Actuator Constraint.". Dynamic interaction seriously limits the overall performance of a Dual-Stage Actuator (DSA) system.
This paper aims to identify and compensate for the dynamic interaction in a non-contact DSA system. The effects of the interaction in the non-contact DSA system are initially classified as non-contact position-dependent disturbance forces (PDDFs) and velocity-dependent disturbance forces (VDDFs).
Model-Based Nonlinear Control of the Dielectric Elastomer Actuator With High Robustness and Precision Mingqi Zhang, Mingqi Zhang State Key Laboratory of Fluid Power and Mechatronic Systems, Department of Engineering Mechanics, Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, we demonstrate a robust control strategy.
• design of piezoelectric actuator systems; • modeling and compensation of nonlinearities and friction in microdrives. Hard Disk Drive Servo Systems will be of great value to practicing engineers in the hard disk and CD-ROM drive industries and to researchers in areas related to servo systems.
The Linear Systems and CNF MATLAB ® toolkits. Modelling and Precision Control of Systems with Hysteresis covers the piezoelectric and other smart materials that are increasingly employed as actuators in precision engineering, from scanning probe microscopes (SPMs) in life science and nano-manufacturing, to precision active optics in astronomy, including space laser communication, space imaging cameras, and the micro-electro-mechanical.
The hysteresis non-linearity of the actuator is modeled by first dividing the dynamics of the whole structure into linear and non-linear parts, in cascade form, as illustrated in Fig.
mechanical part of this actuator and the linear terms of the piezoelectric stack are considered to be second order linear dynamic. control of single-rod hydraulic actuators.
In [ 16], a general framework on the desired compensation adaptive robust control (DCARC) is presented. The strat- egy is applied to the precision motion control of linear mo- tor drive systems in [ 15] and excellent tracking performance is obtained in experiments.
When tracking the trajectory of the mechanical arm in a joint space, the system is affected by friction non-linearity, unknown dynamic parameters and external disturbances that makes it difficult to improve the control accuracy of the mechanical arm. To solve the above problems, this paper introduces LuGre friction model and designs a new joint space trajectory tracking controller based on the.
The book serves as a useful reference for anyone interested in applying the latest technologies to precision motion control. The authors set the stage by describing a variety of processes in precision manufacturing, including nanofabrication techniques such as lithography, ultra-precision machining, and laser micromachining.Piezoelectric ceramics are widely used in precision measurement and precision positioning, but its nonlinear characteristics seriously affected its application.
Thus, firstly input voltage and output displacement data of piezoelectric ceramics are collected by the experiment, the nonlinear characteristics of piezoelectric ceramics is analyzed.