Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Position Tracking Control of Flexible Piezo-beam Considering Actuator Hysteresis

작동기 히스테리시스를 고려한 유연 피에조빔의 위치추적제어

  • 프엉박 (인하대학교 대학원 기계공학과) ;
  • 최승복 (인하대학교 기계공학부)
  • Published : 2010.02.20
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Abstract

This paper presents a position tracking control of a flexible beam using the piezoelectric actuator. This is achieved by implementing both feedforward hysteretic compensator of the actuator and PID feedback controller. The Preisach model is adopted to develop the feedforward hysteretic compensator. In the design of the compensator, estimated displacement of the piezoceramic actuator is used based on the limiting triangle database that results from collecting data of the main reversal curve and the first order ascending curves. Experimental implementation is conducted for position tracking control and performance comparison is made between a PID feedback controller without considering the effect of hysteresis, and a PID feedback controller integrated with the feedforward hysteretic compensator.

이 논문에서는 압전작동기를 이용하여 유연 보 구조물의 위치추적제어를 실험적으로 고찰하였다. 작동기의 히스테리시스 특성을 보상하기 위한 앞먹임 보상기와 PID 되먹임 제어기를 함께 구성하여 정밀한 위치 추적제어를 수행할 수 있도록 하였다. 히스테리시스 보상기는 압전작동기의 예측 변위를 바탕으로 한 프라이작 모델을 사용하여 구성하였다. 히스테리시스 보상기의 유무에 따른 PID 되먹임 제어의 성능을 조화가진과 랜덤 가진 실험을 통하여 평가하였으며, 보상기와 되먹임 제어기를 함께 사용하였을 때, 우수한 위치추적제어 성능을 가지는 것을 확인하였다.

Keywords

References

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