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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Optimal Low-Power Piezoelectric Actuator Control With Charge Recovery for a Microrobotic Leg
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Optimal Low-Power Piezoelectric Actuator Control With Charge Recovery for a Microrobotic Leg

机译：具有微机器人臂的电荷恢复的最佳低功率压电执行器控制

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摘要

This paper describes an efficient control strategy for a piezoelectric microactuator using charge recovery. For piezoelectric actuators, as well as other actuators that behave primarily as capacitive loads, energy consumption can be reduced by minimizing the number of times an actuator is charged and by recovering stored energy when it is turned off. An integer programming-based algorithm is used to drive microrobotic legs powered by piezoelectric actuators to a specified angle in a specified time using minimum energy. Partial charge recovery is incorporated; this allows the use of a more flexible controller than a pure on–off controller, with two or more intermediate voltage levels between the minimum and maximum voltages available to improve positioning accuracy. Simulated and experimental tests show that a prototype piezoelectric robotic leg joint achieved controlled movements with one third of the energy consumed by a pure on–off controller.
机译：本文介绍了一种利用电荷恢复的压电微致动器的有效控制策略。对于压电致动器以及主要充当电容性负载的其他致动器，可以通过最大程度地减少致动器的充电次数并在关闭时回收存储的能量来降低能耗。基于整数编程的算法用于以最小的能量在指定的时间内将压电致动器驱动的微型机器人腿驱动到指定角度。合并了部分费用回收；与纯开-关控制器相比，这允许使用更灵活的控制器，在最小和最大电压之间可以使用两个或多个中间电压电平，以提高定位精度。仿真和实验测试表明，原型压电机械手腿关节实现了受控的运动，而纯粹的开关控制器消耗的能量仅为三分之一。

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