Precision Motion Control of a Smart Structure Using an Enhanced Stick-Slip Model
In this paper, a smart structure for the micro position control is proposed using the piezo stack actuator. The smart structure is comprised with PZT based stack actuator, mechanical displacement amplifier and positioning devices. Based on the bridge-type flexural hinge mechanism, a displacement amplifier is designed and integrated with a piezo stack actuator to produce a desirable positioning stroke of the device. In order to achieve the high precision control performance in a positioning device, a stick-slip phenomenon should be suppressed in contacting surfaces of the device, which is generally indispensable in the mechanically connected systems and particularly obvious for the micro-scale system. Therefore, the stick-slip model is enhanced by theoretically calculating the static friction based on the statistical rough surface contact model. Then, a PID feedback control algorithm with the developed stick-slip model is formulated for achieving accurate positioning of the device. Using the proposed smart structure, simulations of precise position control under the representative operating condition of positioning are conducted to demonstrate the stick-slip suppressing and micro positioning performance.
Pietro VINCENZINI and Fabio CASCIATI
M. G. Jang et al., "Precision Motion Control of a Smart Structure Using an Enhanced Stick-Slip Model", Advances in Science and Technology, Vol. 56, pp. 98-103, 2008