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Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode
摘要： The major hurdles to control the force created by piezoelectric actuators (PEAs) are originated from its strong nonlinear behaviors which include hysteresis, creep, and vibration dynamics. To achieve an accurate, fast and robust force tracking performance without using complicated modeling and parameter identification of PEAs, this paper presents a practical direct force control scheme. The proposed controller is based on two core approaches: 1) fast finite-time integral terminal sliding mode (FFI-TSM) which allows fast convergence and high accuracy to the closed-loop system without control chattering; and 2) an inverse-model-free compensation, named force-based time-delayed estimation (FBTDE) which offers significant robustness with minimum use of plant dynamics information. The finite-time stability of the overall closed-loop system is proven through the Lyapunov's method. The proposed force tracking controller is implemented on the PEA system driving a variable physical damping actuator mechanism. The overall accuracy, convergence speed, and robustness of the proposed controller are validated under various experimental scenarios. Comparative experimental results are particularly presented to verify the effectiveness of the FFI-TSM term and the FBTDE term.
关键词： Inversion-free force control,Piezoelectric actuators (PEAs),Time-delayed control (TDC),Terminal sliding mode
更新于2025-09-23 15:23:52
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[SEMA SIMAI Springer Series] Recent Advances in Differential Equations and Applications Volume 18 || Optimal Design of Piezoelectric Microactuators: Linear vs Non-linear Modeling
摘要： The main point of this work is the comparison between linear and geometrically non-linear elasticity modeling in the field of piezoelectric actuators fabricated at the micro-scale. Manufacturing limitations such as non-symmetrical lamination of the structure or minimum length scale are taken into account during the optimization process. The robust approach implemented in the problem also reduces the sensitivity of the designs to small manufacturing errors.
关键词： Large displacements,Electrode profile,Piezoelectric actuators,Heterogeneous bimorph,Topology optimization
更新于2025-09-23 15:22:29
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D controller for precise nanopositioning in the presence of hardware-induced constant time delay
摘要： The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanical displacements at these nanometer scales are required. The performance of these nanopositioners is limited by the presence of lightly damped resonances in their dynamic response and actuator nonlinearities. Closed-loop control techniques incorporating both damping and tracking are typically used to address these limitations. However, most tracking schemes employed use a first-order integrator whereas a triangular trajectory commonly used in nanopositioning applications necessitates a double integral for zero-error tracking. The phase margin of the damped system combined with the hardware-induced delay deem the implementation of a double-integrator unstable. To overcome this limitation, this paper presents the design, analysis and application of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom PID controller (2DOF-PID). The proposed controller replaces the integral action of the traditional 2DOF-PID with a double integral action (2DOF-PI2D). Despite its simplicity, the proposed controller delivers superior tracking performance compared to traditional combined damping and tracking control schemes based on well-reported designs such as positive position feedback (PPF), Integral resonant control (IRC), and Positive Velocity and Position Feedback (PVPF). The stability of the control system is analyzed in the presence of a time delay in the system. Experimental results validating the efficacy of the proposed chattering-free control of a piezo-driven nanopositioning system are included.
关键词： Vibration,Piezoelectric actuators (PEAs),Precision Motion control
更新于2025-09-19 17:15:36
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An enhanced Bouc-Wen model for characterizing rate-dependent hysteresis of piezoelectric actuators
摘要： A classical Bouc-Wen model is widely applied in hysteresis modeling and compensation for piezoelectric ceramic actuators. However, the classical Bouc-Wen model cannot characterize rate-dependent hysteresis under excitations at high frequencies precisely. In this paper, an enhanced Bouc-Wen model is developed by introducing the frequency of input voltage based on the classical Bouc-Wen model. A number of experiments were conducted to characterize the rate-dependent hysteresis of piezoelectric ceramic actuators under sinusoidal excitations at a range of 1–150 Hz. The measured data were used to demonstrate the validity of the developed model. A method of parameter estimation based on the Matlab/Simulink parameter estimation tool is adopted to identify the parameters of models. The comparisons of experiments and simulations show that the developed model can describe rate-dependent hysteresis more accurately than the classical Bouc-Wen model. The modeling errors of the developed model were decreased by nearly 75% compared with that of the classical Bouc-Wen model. The root-mean-square error of the developed model is controlled in 0.1719 μm.
关键词： parameter estimation,Bouc-Wen model,rate-dependent hysteresis,piezoelectric actuators
更新于2025-09-04 15:30:14