Fuzzy logic motion control of a piezoelectrically actuated table

Abstract

In order to improve the small travel and hysterisis defects of piezoelectric actuators, the high-frequency oscillation of piezoelectric material is employed to induce the back and forth motion of a fingertip contacted with a slide to construct a friction actuating mechanism. However, this piezoelectric actuating system has obvious non-linear and time-varying dead-zone offset control voltage due to static friction. It is difficult to establish an accurate dynamic model for model-based control design. Here, a model-free fuzzy control algorithm is employed, and the look-ahead control target is chosen for trajectory plannig to reduce the chance of trapping into the dead zone. Different trajectory speeds are planned between two points to investigate the tracking control performance and the steady state error of this fuzzy look-ahead controller. The dynamic experimental results of this proposed controller are compared with that of a proportional, integral and derivative (PID) controller.

Keywords

piezoelectric actuator fuzzy control look-ahead and dead-zone offset

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