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An inverse Prandtl–Ishlinskii model based decoupling control methodology for a 3-DOF flexure-based mechanism
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Guo, Z., Tian, Yanling, Liu, Xianping, Shirinzadeh, B., Wang, F. and Zhang, D. (2015) An inverse Prandtl–Ishlinskii model based decoupling control methodology for a 3-DOF flexure-based mechanism. Sensors and Actuators A : Physical, 230 . pp. 52-62. doi:10.1016/j.sna.2015.04.018 ISSN 0924-4247.
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WRAP_Liu_9976741-es-041215-an_inverse_prandtl-ishlinskii_model_based_decoupling_.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (1067Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.sna.2015.04.018
Abstract
A modified Prandtl–Ishlinskii (P–I) hysteresis model is developed to form the feedforward controller for a 3-DOF flexure-based mechanism. To improve the control accuracy of the P–I hysteresis model, a hybrid structure that includes backlash operators, dead-zone operators and a cubic polynomial function is proposed. Both the rate-dependent hysteresis modeling and adaptive dead-zone thresholds selection method are investigated. System identification was used to obtain the parameters of the newly-developed hysteresis model. Closed-loop control was added to reduce the influence from external disturbances such as vibration and noise, leading to a combined feedforward/feedback control strategy. The cross-axis coupling motion of the 3-DOF flexure-based mechanism has been explored using the established controller. Accordingly, a decoupling feedforward/feedback controller is proposed and implemented to compensate the coupled motion of the moving platform. Experimental tests are reported to examine the tracking capability of the whole system and features of the controller. It is demonstrated that the proposed decoupling control methodology can distinctly reduce the coupling motion of the moving platform and thus improve the positioning accuracy and trajectory tracking capability.
Item Type: | Journal Article | ||||||||||
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Subjects: | T Technology > TA Engineering (General). Civil engineering (General) | ||||||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||||
Library of Congress Subject Headings (LCSH): | Flexure, Hysteresis, Piezoelectric devices | ||||||||||
Journal or Publication Title: | Sensors and Actuators A : Physical | ||||||||||
Publisher: | Elsevier | ||||||||||
ISSN: | 0924-4247 | ||||||||||
Official Date: | 1 July 2015 | ||||||||||
Dates: |
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Volume: | 230 | ||||||||||
Number of Pages: | 11 | ||||||||||
Page Range: | pp. 52-62 | ||||||||||
DOI: | 10.1016/j.sna.2015.04.018 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||
Date of first compliant deposit: | 15 December 2015 | ||||||||||
Date of first compliant Open Access: | 30 May 2016 | ||||||||||
Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC) | ||||||||||
Grant number: | 51275337 (NSFC), 51175372 (NSFC), 51405333 (NSFC) |
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