Accurate position control of a flexible arm using a piezoactuator associated with a hysteresis compensator

作者：Choi Seung Bok^*; Seong Min Sang; Ha Sung Hoon

来源：Smart Materials and Structures, 2013, 22(4): 045009.

DOI：10.1088/0964-1726/22/4/045009

In this work, position control of a one-link flexible arm is undertaken by considering the field-dependent hysteresis behavior of a piezoceramic actuator (piezoactuator in short). The proposed arm is controlled by two actuators: a motor mounted at the hub and a piezoceramic bonded to the surface of the flexible link. In the modeling process, two transfer functions: one from the input torque to output hub angle and the other from the input voltage to the output tip deflection are obtained. The hysteretic behavior of the piezoactuator is experimentally identified using the Preisach model, and the first-order descending (FOD) curves are obtained that are required to design a hysteresis compensator. After establishing the overall control block diagram for the position control of the flexible arm, a quantitative feedback theory (QFT) controller is designed by treating parameter variations and external disturbances as uncertainties. Subsequently, a hysteresis compensator that produces additional control input to the piezoactuator is designed to enhance the vibration control performance. An experimental realization of the proposed control scheme is undertaken and the effect of the hysteresis compensator on vibration control of the flexible arm is evaluated in the time domain.

• 出版日期2013-4