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Izvorni znanstveni članak
https://doi.org/10.7305/automatika.54-1.306

Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators

Merve Acer   ORCID icon orcid.org/0000-0002-5203-7775 ; Mechanical Engineering Department, Faculty of Mechanical Engineering, Istanbul Technical University, Inonu cad. 65 Gumussuyu, 34437 Istanbul, TURKEY
Asif Šabanović   ORCID icon orcid.org/0000-0002-2783-9354 ; Department of Mechatronics Engineering, Faculty of Engineering and Natural Sciences, Sabanci University, Universite Caddesi 27, 34956 Istanbul, TURKEY

Puni tekst: engleski, pdf (1 MB) str. 114-125 preuzimanja: 1.190* citiraj
APA 6th Edition
Acer, M. i Šabanović, A. (2013). Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators. Automatika, 54 (1), 114-125. https://doi.org/10.7305/automatika.54-1.306
MLA 8th Edition
Acer, Merve i Asif Šabanović. "Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators." Automatika, vol. 54, br. 1, 2013, str. 114-125. https://doi.org/10.7305/automatika.54-1.306. Citirano 22.10.2021.
Chicago 17th Edition
Acer, Merve i Asif Šabanović. "Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators." Automatika 54, br. 1 (2013): 114-125. https://doi.org/10.7305/automatika.54-1.306
Harvard
Acer, M., i Šabanović, A. (2013). 'Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators', Automatika, 54(1), str. 114-125. https://doi.org/10.7305/automatika.54-1.306
Vancouver
Acer M, Šabanović A. Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators. Automatika [Internet]. 2013 [pristupljeno 22.10.2021.];54(1):114-125. https://doi.org/10.7305/automatika.54-1.306
IEEE
M. Acer i A. Šabanović, "Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators", Automatika, vol.54, br. 1, str. 114-125, 2013. [Online]. https://doi.org/10.7305/automatika.54-1.306

Sažetak
A 3-PRR flexure based mechanism which is used as a redundant mechanism providing only x-y micro positioning is designed and controlled in this paper. The aim of this work is to eliminate the unpredictable motions due to manufacturing and assembling errors by implementing sliding mode control (SMC) with disturbance observer (DOB) using piezoelectric actuator models. The system is designed to be redundant to enhance the position control. In order to see the effects of the redundant system firstly the closed loop control is implemented for 2 piezoelectric actuators and the remainder piezoelectric actuator is treated as a fixture. Then the position control is implemented for 3 piezoelectric actuators. As a result, our redundant mechanism tracks the desired trajectory accurately and its workspace is bigger. Finally we have compared the proposed position control with the conventional PID control. It is seen that SMC with DOB gives better results. We have achieved to make the position control of our mechanism, which has unpredictable position errors due to rough manufacturing, assembly, piezoelectric actuator hysteresis etc. The designed 3-PRR flexure mechanism can be used as a micro positioner with the available measurement in the laboratory.

Ključne riječi
Compliant Mechanism; Sliding Mode Control; Piezoelectric Actuator Control; Flexure Based Mechanism; Observer

Hrčak ID: 100207

URI
https://hrcak.srce.hr/100207

[hrvatski]

Posjeta: 1.521 *