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Hysteresis compensation and decoupling control of Stewart micro-motion platform based on piezoelectric actuator
Published:2020-08-06 author:HE Ya-lin, ZHAO Xin-long Browse: 2424 Check PDF documents

Hysteresis compensation and decoupling control of Stewart micro-motion platform based on piezoelectric actuator


HE Ya-lin, ZHAO Xin-long

(Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China)


Abstract: Aiming at the problem of strong coupling and hysteresis characteristics of Stewart micro-motion platform driven by piezo driver, the coupling characteristics and hysteresis characteristics of Stewart micro-motion platform were studied. The characteristics of coupling characteristics and hysteresis characteristics were summarized.A control method based on hysteresis compensation and input decoupling was established. The mathematical model was established and the controller was designed.Firstly, the length of each leg of the Stewart platform was obtained by the inverse transformation of the rotational transformation matrix. Then, based on the system dynamics model, the input end was decoupled by introducing the dynamic inverse model at the input.The Bouc-Wen model was used to describe the hysteresis characteristics of the piezoelectric actuator and the inverse model was used to compensate the hysteresis characteristics. Finally, the controller was designed and verified by simulation to verify the effectiveness of both fixed-point motion and continuous motion.The results indicate that the control method can simultaneously provide hysteresis compensation and decoupling control for the Stewart platform driven by the piezoelectric actuator, and the response speed is fast, and with good stability.

Key words: Stewart micro-motion platform; piezoelectric actuator; Bouc-Wen hysteresis model; inverse model

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