Research Papers

Dahl Model-Based Hysteresis Compensation and Precise Positioning Control of an XY Parallel Micromanipulator With Piezoelectric Actuation

[+] Author and Article Information
Qingsong Xu

Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenue Padre Tomás Pereira S. J., Taipa Macao SAR 3001, Chinaqsxu@umac.mo

Yangmin Li1

Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenue Padre Tomás Pereira S. J., Taipa Macao SAR 3001, Chinaymli@umac.mo




Corresponding author.

J. Dyn. Sys., Meas., Control 132(4), 041011 (Jun 18, 2010) (12 pages) doi:10.1115/1.4001712 History: Received March 16, 2009; Revised March 30, 2010; Published June 18, 2010; Online June 18, 2010

This paper presents a new control scheme for the hysteresis compensation and precise positioning of a piezoelectrically actuated micromanipulator. The scheme employs an inverse Dahl model-based feedforward in combination with a repetitive proportional-integral-derivative feedback control algorithm along with an antiwindup strategy. The dynamic model of the system with Dahl hysteresis is established and identified through particle swarm optimization approach. The necessity of using global optimization and how to choose the model parameters to be optimized are addressed as well. The effectiveness of the proposed controller is demonstrated by several experimental studies on an XY parallel micromanipulator. Experimental results reveal that both antiwindup and repetitive control strategies can improve the positioning accuracy of the system, and a well performance of the proposed scheme for both one-dimensional tracking and two-dimensional contouring tasks of the micromanipulator is achieved. Moreover, due to a simple structure, the proposed methodology can be easily generalized to other micro- or nanomanipulators with piezoelectric actuation as well.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

(a) CAD model of the assembled XY parallel micromanipulator; (b) details of one limb with integrated compound bridge-type mechanical amplifier

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Figure 2

Connection scheme of the experimental apparatus

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Figure 3

(a) At-rest laser sensor output of the micromanipulator system acquired with a 5-kHz sampling rate; (b) frequency spectrum of the error signal at rest

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Figure 4

Open-loop step response of the x-axis motion with an input voltage of 75 V: (a) time-domain plot; (b) frequency response obtained by FFT

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Figure 5

(a) Block diagram of the entire dynamic model for calculating the output displacement x∗ from the input voltage u; (b) details of the Dahl model for calculating the hysteresis term Fh from ẋ∗

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Figure 6

Convergence procedure of the PSO for dynamic model identification

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Figure 7

(a) A 0.25-Hz input voltage signal applied to the PZT; (b) errors of the identified Bouc–Wen and Dahl models with respect to the experimental results; (c) hysteresis loop obtained by the experiment and the Dahl model

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Figure 8

Block diagram of the inverse Dahl system model for the calculation of the input voltage uFF from the given position xd

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Figure 9

Block diagram of the FF plus feedback FB control scheme

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Figure 10

PID controller with back calculation antiwindup scheme

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Figure 11

Block diagram of the FF plus FB with RC strategy

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Figure 12

Sinusoidal motion tracking results of (a)–(c) feedforward compensation, (d)–(f) PID feedback control, and (g)–(i) feedforward plus feedback compensation with a 0.2-Hz input rate

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Figure 13

Motion tracking results of feedforward plus feedback controller: (a)–(c) with normal actuator saturation; (d)–(f) with shrunk saturation limits whereas without antiwindup strategy; (g)–(i) with shrunk saturation limits and antiwindup strategy (ut)

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Figure 14

High frequency motion tracking results of (a)–(c) without and (d)–(f) with repetitive control term (uRC).

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Figure 15

(a) Circular contouring results with an input rate of 0.1 Hz and different radii; (b)–(d) contouring results for a circle of a 10-μm radius.




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