The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Effective employment of piezoelectric actuators in microscale dynamic trajectory-tracking applications is limited by two factors: 1) the intrinsic hysteretic behavior of piezoelectric ceramic and 2) structural vibration as a result of the actuator? own mass, stiffness, and damping properties. While hysteresis is rate-independent, structural vibration increases as the piezoelectric actuator is driven closer to its resonant frequency. Instead of separately modeling the two interacting dynamic effects, this work treats their combined effect phenomenologically and proposes a rate-dependent modified Prandtl?shlinskii operator to account for the hysteretic nonlinearity of a piezoelectric actuator at varying actuation frequency. It is shown experimentally that the relationship between the slope of the hysteretic loading curve and the rate of control input can be modeled by a linear function up to a driving frequency of 40 Hz.

Keywords

Feedforward controller, hysteresis modeling, piezoelectric actuators

Notes

Sponsor: NIH, NSF

Grant ID: R01EB000526, EEC-9731748

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Micron: Intelligent Microsurgical Instruments

Text Reference

Wei-Tech Ang, Pradeep Khosla, and Cameron Riviere, "Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications," IEEE/ASME Transactions on Mechatronics, Vol. 12, No. 2, April, 2007, pp. 134-142.

BibTeX Reference

@article{Ang_2007_5983,
   author = "Wei-Tech Ang and Pradeep Khosla and Cameron Riviere",
   title = "Feedforward Controller With Inverse Rate-Dependent Model for Piezoelectric Actuators in Trajectory-Tracking Applications",
   journal = "IEEE/ASME Transactions on Mechatronics",
   pages = "134-142",
   month = "April",
   year = "2007",
   volume = "12",
   number = "2",
}

The Robotics Institute

Menu