Friction compensation control for linear piezoelectric ceramic motor driving system

被引：0
|
作者：
Li X.-F. [1 ,2 ,3 ]
Gao H.-B. [1 ]
Guo X. [1 ,2 ]
Zhang J.-Q. [1 ,3 ]
机构：
[1] Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Science, Changchun
[2] University of Chinese Academy of Sciences, Beijing
[3] Yusense Information Technology and Equipment (Qingdao) Inc., Qingdao
来源：
Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2019年 / 23卷 / 11期
关键词：
Friction compensation; Generalized Maxwell-slip model; Linear piezoelectric ceramic motor; Photonics tracking control; System identification;
D O I：
10.15938/j.emc.2019.11.017
中图分类号：
学科分类号：
摘要：
The linear piezoelectric ceramic motor (LPCM) is one kind of actuators. The large tracking error was induced by the friction principle of LPCM, which is used in the photonics tracking control field. It is compensated by the friction model feedforward approach. Firstly, the driving scheme for LPCM was introduced, which is constricted by strict size and weight in special photoelectric detect application. Then, motor friction force was analyzed according to friction driving principle, friction model based on the generalized Maxwell-slip (GMS) was presented, and the parameters in pre-sliding regime and gross sliding regime were identified through the special experiments. Then, it is also necessary for model validation. After that, control system was modeling, friction compensation was added into the controller. Finally, the experiment results demonstrate that when the prototype run in the mode of sine guide, the amplitude is 0.174 rad and frequency is 0.159 Hz. The position tracking root mean square (RMS) error is 15 μrad, less than 42.3% compared with Coulomb friction feedforward compensation. The error spikes are obviously weakened, even reduced by 73.8%. Using classical control algorithm with friction feedforward compensation mentioned. The drive control system meets the need of performance. Based on above research, it suggests that linear piezoelectric ceramic motor can be used in the field of photonics detection and so on. © 2019, Harbin University of Science and Technology Publication. All right reserved.
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页码：135 / 142
页数：7
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