A Control Methodology for an Inchworm Piezomotor

Mrad, Ridha; Abhari, Abdolreza; Zu, Jean W.

doi:10.1006/mssp.2002.1495

Cited by 22 publications

(3 citation statements)

References 9 publications

(17 reference statements)

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“…The inchworm type-piezoelectric motors incorporate the alternative clamping and driving mechanism to achieve the precision stepping motion. Further, the inchworm type piezoelectric motors can be classified as the pusher type with fixed actuators, walker type with the moving actuators [165,166]. These actuators have a similar working principle except for the mounting of the clamping and driving actuators.…”

Section: Clamping and Feeding Mode (Inchworm Type) Stepping Piezoelec...mentioning

confidence: 99%

Recent trends in piezoelectric actuators for precision motion and their applications: a review

Mohith¹,

Upadhya²,

Navin³

et al. 2020

Smart Mater. Struct.

193

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The need for precision positioning applications has enormously influenced the research and development towards the growth of precision actuators. Over the years, piezoelectric actuators have significantly satisfied the requirement of precision positioning to a greater extent with the capability of broad working stroke, high-accuracy, and resolution (micro/nano range) coupled with the advantage of faster response, higher stiffness, and actuation force. The present review intends to bring out the latest advancement in the field of piezoelectric actuator technology. This review brings out the specifics associated with the development of materials/actuators, the working principles with different actuation modes, and classifications of the piezoelectric actuators and their applications. The present article throws light on the design, geometrical features, and the performance parameters of various piezoelectric actuators right from unimorph, bimorph, and multilayer to the large displacement range actuators such as amplified actuators, stepping actuators with relevant schematic representations and the quantitative data. A comparative study has been presented to evaluate the pros and cons of different piezoelectric actuators along with quantitative graphical comparisons. An attempt is also made to highlight the application domains, commercial and future prospects of technology development towards piezoelectric actuators for precision motion applications. The organization of the paper also assists in understanding the piezoelectric materials applicable to precision actuators. Furthermore, this paper is of great assistance for determining the appropriate design, application domains and future directions of piezoelectric actuator technology.

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Section: Clamping and Feeding Mode (Inchworm Type) Stepping Piezoelec...mentioning

confidence: 99%

Recent trends in piezoelectric actuators for precision motion and their applications: a review

Mohith¹,

Upadhya²,

Navin³

et al. 2020

Smart Mater. Struct.

193

View full text Add to dashboard Cite

show abstract

“…Different control methods can also be used to deal with the nonlinear behavior, such as a simple pulsed control relay [9], a hybrid control method of a traditional PID controller and a rule-based scheme [10], a fuzzy cerebella model articulation control (FCMAC) algorithm [11], state windows with adaptive PID [12], and recurrent fuzzy neural network algorithms [13].…”

Section: Introductionmentioning

confidence: 99%

Data-Driven Tuning of PID Controlled Piezoelectric Ultrasonic Motor

2021

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Ultrasonic motors employ resonance to amplify the vibrations of piezoelectric actuator, offering precise positioning and relatively long travel distances and making them ideal for robotic, optical, metrology and medical applications. As operating in resonance and force transfer through friction lead to nonlinear characteristics like creep and hysteresis, it is difficult to apply model-based control, so data-driven control offers a good alternative. Data-driven techniques are used here for iterative feedback tuning of a proportional integral derivative (PID) controller parameters and comparing between different motor driving techniques, single source and dual source dual frequency (DSDF). The controller and stage system used are both produced by the company Physik Instrumente GmbH, where a PID controller is tuned with the help of four search methods: grid search, Luus–Jaakola method, genetic algorithm, and a new hybrid method developed that combines elements of grid search and Luus–Jaakola method. The latter method was found to be quick to converge and produced consistent result, similar to the Luus–Jaakola method. Genetic Algorithm was much slower and produced sub optimal results. The grid search has also proven the DSDF driving method to be robust, less parameter dependent, and produces far less integral position error than the single source driving method.

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“…They are inchwormtype, inertial-type, and resonant-type motors. The inchwormtype linear motor uses two sets of multi-layered piezoelectric stacks, and they can be fixed [2] or movable [3] actuators. These two sets of piezoelectric actuators serve as clamping or feeding actuators alternatively to create an inchworm like movement for the stepping motion.…”

Section: Introductionmentioning

confidence: 99%

A two-dimensional piezoelectric traveling wave generator using a multi-integer frequency, two-mode method (MIF-TM)

Hsu¹,

Lin²,

Lee³

2021

Smart Mater. Struct.

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In this paper, we report a new method called a multi-integer frequency, two-mode (MIF-TM) to generate multi-directional traveling waves on a square plate. The uniqueness of this driving method is threefold. Firstly, as the two driving frequencies are at or near resonant frequencies of the two bending modes, the driving efficiency can be largely enhanced by using structural resonance. Secondly, as the two actuating areas can sufficiently induce traveling waves, each of them is driven by one of the two driving frequencies. It is possible to generate steady traveling waves by making the two driving frequencies possess a multi-integer relationship and with a phase difference. Thirdly, the direction of the traveling wave can be controlled to propagate toward either the x- or y-direction by designing the location and size of the actuating area. To assist in the design of the MIF-TM traveling wave generator, an analytical model was derived to depict the induction of the traveling waves. Using this analytical model, we designed a piezoelectric traveling wave generator with weight of 2.35 g, dimension of 45 × 45 × 0.4 mm piezoelectric bimorph with four designated electrode pairs. It was verified to be either in the positive or negative direction traveling wave as it was controlled by adjusting the phase difference between the two driving frequencies. Our experimental results demonstrated that the generated x-direction traveling wave can move a 0.3 g object at a speed of 1.48 mm s−1, and the generated y-direction travel wave can move this same object at a speed of 1.36 mm s−1. The design, numerical analysis, finite element analysis, and experimental studies are detailed in this paper.

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A Control Methodology for an Inchworm Piezomotor

Cited by 22 publications

References 9 publications

Recent trends in piezoelectric actuators for precision motion and their applications: a review

Recent trends in piezoelectric actuators for precision motion and their applications: a review

Data-Driven Tuning of PID Controlled Piezoelectric Ultrasonic Motor

A two-dimensional piezoelectric traveling wave generator using a multi-integer frequency, two-mode method (MIF-TM)

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