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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Sensorless Position Control For Piezoelectric Actuators Using A Hybrid Position Observer
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Sensorless Position Control For Piezoelectric Actuators Using A Hybrid Position Observer

机译：使用混合位置观测器的压电执行器无传感器位置控制

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摘要

Soft piezoelectric actuators are extensively used in micro- and nanopositioning applications. Traditional sensorless position control approaches use a hysteresis mapping between voltage and position in a voltage feedforward control scheme in order to compensate for hysteresis errors. However, several factors such as frequency, temperature, and aging influence this mapping. Recently, charge control for positioning is also attracting interest among researchers due to the linear relationship between position and charge. However, a sophisticated hardware design is required to minimize charge drift. In this study, a new sensorless position control technique is proposed which requires neither an accurate inverse mapping nor a sophisticated charge amplifier in order to compensate for hysteresis. A constitutive relationship is employed to infer position from charge measurement through current integration. To eliminate drift from the charge-based measurement, an observer is presented in this study which uses a second self-sensing position estimate that is based on the variation of effective piezoelectric capacitance with stroke. The proposed observer is tested as a position feedback sensor inside a simple integrating control loop and applied to step profiles of variable stroke and sinusoidal profiles of constant and mixed frequencies. The responses are compared with a laser interferometer and the maximum observer error between the laser and the observer is 0.89 $,mu hbox{m}$ ($<$ 3% of the maximum stroke) over a frequency range of 10 to 100 Hz.
机译：软压电致动器广泛用于微定位和纳米定位应用。传统的无传感器位置控制方法在电压前馈控制方案中使用电压和位置之间的磁滞映射，以补偿磁滞误差。但是，一些因素（例如频率，温度和老化）会影响此映射。最近，由于位置和电荷之间的线性关系，用于定位的电荷控制也引起了研究人员的兴趣。但是，需要复杂的硬件设计以最小化电荷漂移。在这项研究中，提出了一种新的无传感器位置控制技术，该技术既不需要精确的逆映射，也不需要复杂的电荷放大器来补偿磁滞。本构关系用于从电荷测量通过电流积分推断位置。为了消除基于电荷的测量中的漂移，本研究提出了一个观察者，该观察者使用了第二个自感应位置估计，该估计基于有效压电电容随行程的变化。拟议的观察者在简单的积分控制回路中作为位置反馈传感器进行了测试，并应用于可变行程的阶跃曲线以及恒定频率和混合频率的正弦曲线。将响应与激光干涉仪进行比较，并且在10到100 Hz的频率范围内，激光器和观察者之间的最大观察者误差为0.89 µm（每分钟最大行程的3％）。

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