Precision tracking of a piezo-driven stage by charge feedback control

This paper presents a novel approach for precisely controlling the motion of a piezo actuator embedded in a mechanical stage without using a displacement sensor. A piezo actuator has a high displacement resolution, but the positioning performance is degraded by hysteresis between the applied voltage...

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Bibliographic Details
Published in:Precision engineering 2013-10, Vol.37 (4), p.793-804
Main Authors: Chen, Lien-Sheng, Yen, Jia-Yush, Chen, Jack J.H., Kuo, Fu-Cun, Chen, Min-Shin, Chen, Yung-Yaw, Chung, Ben-I.
Format: Article
Language:English
Subjects:
Actuators
Amplifiers
Charge
Charge control
Displacement
Dynamical systems
Dynamics
Hysteresis
Piezo actuator
Precision servomechanism
Tracking
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Summary:This paper presents a novel approach for precisely controlling the motion of a piezo actuator embedded in a mechanical stage without using a displacement sensor. A piezo actuator has a high displacement resolution, but the positioning performance is degraded by hysteresis between the applied voltage and resultant displacement. However, an electromechanical model of a piezo actuator suggests that the charge flowing in the actuator is directly related to the dynamic response of the piezo displacement. Therefore, this study directly measured the charge stored in a piezo actuator, and achieved dynamic reference tracking of the actuator's displacement by regulating the charge flowing through the actuator to follow a predefined trajectory. This novel approach requires neither specially designed charge amplifier circuits nor implementation of an inverse hysteresis model. The complete model identification and the digital controller design procedure for a piezo-driven mechanical stage are presented. The charge feedback controller is designed according to the dynamic characteristics of both the actuator and the stage, so that instability is minimized relative to using a charge amplifier. The experimental results confirm satisfactory tracking performance, and reveal the influence of model uncertainties on the system performance.
ISSN:0141-6359
1873-2372
DOI:10.1016/j.precisioneng.2013.03.002