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PID-type sliding mode-based adaptive motion control of a 2-DOF piezoelectric ultrasonic motor driven stage
Mechatronics ( IF 3.3 ) Pub Date : 2021-04-13 , DOI: 10.1016/j.mechatronics.2021.102543
Min Ming , Wenyu Liang , Zhao Feng , Jie Ling , Abdullah Al Mamun , Xiaohui Xiao

This paper presents a new scheme of adaptive sliding mode control (ASMC) for a piezoelectric ultrasonic motor driven X–Y stage to meet the demand of precision motion tracking while addressing the problems of unknown nonlinear friction and model uncertainties. The system model with Coulomb friction and unilateral coupling effect is first investigated. Then the controller is designed with adaptive laws synthesized to obtain the unknown model parameters for handling parametric uncertainties and offsetting friction force. The robust control term acts as a high gain feedback control to make the output track the desired trajectory fast for guaranteed robust performance. Based on a PID-type sliding mode, the control scheme has a simple structure to be implemented and the control parameters can be easily tuned. Theoretical stability analysis of the proposed novel ASMC is accomplished using a Lyapunov framework. Furthermore, the proposed control scheme is applied to an X–Y stage and the results prove that the proposed control method is effective in achieving excellent tracking performance.



中文翻译:

基于PID型滑模的2自由度压电超声电机驱动级的自适应运动控制

本文提出了一种适用于压电超声电机驱动的XY平台的自适应滑模控制(ASMC)的新方案,以满足精确运动跟踪的需求,同时解决了未知的非线性摩擦和模型不确定性的问题。首先研究了具有库仑摩擦和单边耦合效应的系统模型。然后,利用自适应定律对控制器进行设计,以获得用于处理参数不确定性和抵消摩擦力的未知模型参数。鲁棒控制项用作高增益反馈控制,以使输出快速跟踪所需轨迹,以确保鲁棒性能。该控制方案基于PID型滑模,具有易于实现的结构,并且可以轻松调整控制参数。拟议的新型ASMC的理论稳定性分析是使用Lyapunov框架完成的。此外,将所提出的控制方案应用于X-Y阶段,结果证明所提出的控制方法可以有效地实现出色的跟踪性能。

更新日期:2021-04-13
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