Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Precise Position Control of Inchworm Using Robust Control Technique and Input Shaping

강인제어 기법과 입력성형법을 이용한 자벌레의 정밀 위치 제어

  • 양광용 (금오공과대학교 대학원 기전공학과) ;
  • 황윤식 (금오공과대학교 대학원 기전공학과) ;
  • 김영식 (금오공과대학교 기계공학부) ;
  • 김인수 (금오공과대학교 기계공학부)
  • Published : 2009.02.20
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Abstract

This paper presents motion control of the Inchworm composed of the piezoelectric actuators and mechanical elements. Piezoelectric actuator shows nonlinear response characteristics including hysteresis due to the ferroelectric characteristics. This paper proposes feedback control scheme to improve the ability of tracking response to complex input signal and suppress the phenomenon of hysteresis using the sliding mode control technique with the integrator. The sliding mode control system has the limit to minimize both the settle time and overshoot. For making up this limit, this paper also suggests input shaping technique suitable to the inchworm control system.

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References

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