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Article Dans Une Revue IEEE Transactions on Automation Science and Engineering Année : 2009

Complete open loop control of hysteretic, creeped and oscillating piezoelectric cantilevers.

Résumé

The feedforward compensation of nonlinearities, i.e. hysteresis and creep, and unwanted vibrations in micromanipulators is presented in this paper. The aim is to improve the general performances of piezocantilevers dedicated to micromanipulation/ microassembly tasks. While hysteresis is attenuated using the Prandtl-Ishlinskii inverse model, a new method is proposed to decrease the creep phenomenon. As no model inversion is used, the proposed method is simple and easy to implement. Finally, we employ an input shaping technique to reduce the vibration of the piezocantilevers. The experimental results show the efficiency of the feedforward techniques and their convenience to the micromanipulation/microassembly requirements.
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hal-00436606 , version 1 (27-11-2009)

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Micky Rakotondrabe, Cédric Clévy, Philippe Lutz. Complete open loop control of hysteretic, creeped and oscillating piezoelectric cantilevers.. IEEE Transactions on Automation Science and Engineering, 2009, 6 (4), 11 p. ⟨10.1109/TASE.2009.2028617⟩. ⟨hal-00436606⟩
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