A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics
Due to the inherent hysteresis characteristics of the smart material, the positioning accuracy of the piezo-driven manipulator was always decreased. Especially in multi-degrees-of-freedom (MDOFs) compliant manipulators driven by multismart actuators, the cross-coupled hysteresis among MDOFs decrease...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2020/6637282 |
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| _version_ | 1832567900457664512 |
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| author | Xubin Zhou Weidong Chen Qing Xiao Xiangsen Kong Xingtian Liu Liping Zhou Yichong Dong Quan Zhang |
| author_facet | Xubin Zhou Weidong Chen Qing Xiao Xiangsen Kong Xingtian Liu Liping Zhou Yichong Dong Quan Zhang |
| author_sort | Xubin Zhou |
| collection | DOAJ |
| description | Due to the inherent hysteresis characteristics of the smart material, the positioning accuracy of the piezo-driven manipulator was always decreased. Especially in multi-degrees-of-freedom (MDOFs) compliant manipulators driven by multismart actuators, the cross-coupled hysteresis among MDOFs decreased the positioning accuracy of such compliant platforms significantly. In this paper, the hysteresis feature identification and coupled hysteresis compensation of a piezo-driven XY manipulator was investigated. To establish the hysteresis characteristics of the piezo-driven manipulator, a modified Bouc–Wen model has been proposed, and a Genetic Algorithm-based Particle Swarm Optimization (GA-PSO) was adopted to recognize the parameters of the model. To improve the output performances of the manipulator, the decoupling controller of the XY micromanipulator was designed, and the driven voltages were modified using the estimated coupling displacements. The experiments validated that the modified Bouc–Wen model featured the ability to present the hysteresis process effectively, and the maximum prediction errors are 0.19 μm and 0.16 μm in the two directions separately. The coupled hysteresis displacement before and after implementing the decoupling controller in the X-direction was reduced from 0.56 μm to 0.15 μm, and the coupling effect is reduced by 73.2%, while in the Y-direction, the coupling effect was also decreased by 72.9%. |
| format | Article |
| id | doaj-art-d7c55cd0fff7464a91a0bc076eb0b952 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-d7c55cd0fff7464a91a0bc076eb0b9522025-02-03T01:00:18ZengWileyShock and Vibration1070-96221875-92032020-01-01202010.1155/2020/66372826637282A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis CharacteristicsXubin Zhou0Weidong Chen1Qing Xiao2Xiangsen Kong3Xingtian Liu4Liping Zhou5Yichong Dong6Quan Zhang7Academy of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaAcademy of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, ChinaShanghai Satellite Engineering Institute, Shanghai 201108, ChinaShanghai Satellite Engineering Institute, Shanghai 201108, ChinaShanghai Satellite Engineering Institute, Shanghai 201108, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, ChinaDue to the inherent hysteresis characteristics of the smart material, the positioning accuracy of the piezo-driven manipulator was always decreased. Especially in multi-degrees-of-freedom (MDOFs) compliant manipulators driven by multismart actuators, the cross-coupled hysteresis among MDOFs decreased the positioning accuracy of such compliant platforms significantly. In this paper, the hysteresis feature identification and coupled hysteresis compensation of a piezo-driven XY manipulator was investigated. To establish the hysteresis characteristics of the piezo-driven manipulator, a modified Bouc–Wen model has been proposed, and a Genetic Algorithm-based Particle Swarm Optimization (GA-PSO) was adopted to recognize the parameters of the model. To improve the output performances of the manipulator, the decoupling controller of the XY micromanipulator was designed, and the driven voltages were modified using the estimated coupling displacements. The experiments validated that the modified Bouc–Wen model featured the ability to present the hysteresis process effectively, and the maximum prediction errors are 0.19 μm and 0.16 μm in the two directions separately. The coupled hysteresis displacement before and after implementing the decoupling controller in the X-direction was reduced from 0.56 μm to 0.15 μm, and the coupling effect is reduced by 73.2%, while in the Y-direction, the coupling effect was also decreased by 72.9%.http://dx.doi.org/10.1155/2020/6637282 |
| spellingShingle | Xubin Zhou Weidong Chen Qing Xiao Xiangsen Kong Xingtian Liu Liping Zhou Yichong Dong Quan Zhang A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics Shock and Vibration |
| title | A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics |
| title_full | A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics |
| title_fullStr | A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics |
| title_full_unstemmed | A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics |
| title_short | A Modified Asymmetric Bouc–Wen Model-Based Decoupling Control of an XY Piezoactuated Compliant Platform with Coupled Hysteresis Characteristics |
| title_sort | modified asymmetric bouc wen model based decoupling control of an xy piezoactuated compliant platform with coupled hysteresis characteristics |
| url | http://dx.doi.org/10.1155/2020/6637282 |
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