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http://dx.doi.org/10.7735/ksmte.2017.26.3.313

Motion Control of Inchworm using Input Shaping and Genetic Algorithm  

Kim, In-Soo (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
Kim, Ki-Bum (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
Park, Seung-Min (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.26, no.3, 2017 , pp. 313-319 More about this Journal
Abstract
This study presents a genetic algorithm (GA) to design a PID controller systematically for an inchworm operated by piezoelectric actuators. The performance index considering overshoot and settling time is adopted to search an optimal PID gain using GA. The piezoelectric actuator shows nonlinear characteristics including hysteresis and residual displacement. The PID feedback system combined with an integrator is used to improve the ability of tracking the complex input signals and suppressing the steady state error. The PID controller tuned by GA can track the various motion contours effectively. However, the PID controller shows an improper residual vibration under the application of high-frequency square input. The input shaper combined with the feedback system can overcome this limitation of the PID controller.
Keywords
Inchworm; Piezoelectric actuator; Genetic algorithm; Input shaping; PID Control;
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Times Cited By KSCI : 3  (Citation Analysis)
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