研究目的
To achieve an accurate, fast, and robust force tracking performance for piezoelectric actuators without using complicated modeling and parameter identification, by developing an inverse-model-free direct force control scheme.
研究成果
The proposed inverse-model-free force controller, combining FBTDE and FFI-TSM, provides accurate, fast, and robust force tracking for piezoelectric actuators. It effectively compensates for nonlinearities like hysteresis and creep without complex modeling, and experimental results validate its superiority over previous methods in terms of accuracy, convergence speed, and robustness. Future work could integrate feedforward compensation for enhanced performance.
研究不足
The control performance is affected by sensor limitations such as bandwidth, resolution, and noise, particularly in micro/nano-scale applications. The method relies on force feedback and may require additional feedforward terms or self-sensing techniques for further improvement in precision.
1：Experimental Design and Method Selection:
The study employs a practical direct force control scheme combining fast finite-time integral terminal sliding mode (FFI-TSM) for fast convergence and high accuracy, and force-based time-delayed estimation (FBTDE) for robustness with minimal plant dynamics information. Lyapunov's method is used for stability analysis.
2：Sample Selection and Data Sources:
Experiments are conducted on a piezoelectric actuator system within a variable physical damping actuator (VPDA) mechanism, using custom-made force sensors and piezoelectric actuators (Noliac SCMAP04).
3：4).
List of Experimental Equipment and Materials:
3. List of Experimental Equipment and Materials: Equipment includes a motor control board with ARM Cortex-M4F microcontroller (TM4C123AH6PM), EtherCAT communication module, 16-bit ADCs and DACs, piezoelectric driver amplifier, custom-made force sensor with strain gauges, and stacked-type piezoelectric actuators (Noliac SCMAP04). Materials involve Kevlar fiber pads, steel rings, and other mechanical components of the VPDA.
4：4). Materials involve Kevlar fiber pads, steel rings, and other mechanical components of the VPDA.
Experimental Procedures and Operational Workflow:
4. Experimental Procedures and Operational Workflow: The controller is implemented using Simulink Real-Time at 1 kHz sampling rate. Experiments include force tracking with sinusoidal trajectories, robustness tests with external disturbances, and comparative studies with PD and I-TSM controllers. Data is acquired and control voltages are computed and applied.
5：Data Analysis Methods:
Performance is evaluated using root-mean-squared error (RMSE) and maximum absolute error (MAE). Hysteresis behaviors are analyzed through input-output plots, and stability is proven mathematically.
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