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Klaus Kuhnen
Feedforward Control of a Parallel Positioning System with Piezoelectric Actuators
Keywords: structural dynamics, active materials, parallel kinematics, memory nonlinearities
Due to the high dynamic positioning capability and the nearly unlimited resolution especially active materials in connection with high precision positioning sensors and a low noise control electronic are well suited for the realisation of ultra high precision parallel positioning systems if the necessary displacements are sufficiently small. The guiding elements of such systems are normally realised with elastic solid-state joints such that hard nonlinearities like static and sliding friction do not occur. In these cases the mechanical part of the system can be mainly regarded as a linear structural dynamical system. Nonlinearites in the overall system are mainly generated by the actuator and sensor characteristics of the active materials if they are driven with high amplitudes. The aim of this article is the development of an innovative feedforward control concept for a 2-dof parallel piezoelectric positioning system which is able to compensate simultaneously the complex hysteretic and creep material nonlinearities in the actuators as well as the pronounced structural dynamic and the coupling between the inputs and outputs of the system.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 55, 09/2007
Pages: 477 - 487