A Dynamic Model Incorporating Thermal Effect for Piezoelectric Stick-Slip Actuators

Abstract

It was found experimentally from our previous study that the operation of the piezoelectric actuator (PEA) and the friction in the piezoelectric stick-slip actuator (PE-SSA) can cause significant rise in temperature, thereby degrading the performance of the actuator. This paper presents a dynamic model for the PE-SSA by taking into account thermal effect. In particular, the dynamic model is developed by integrating the PEA model proposed by Adriaens et al. [1] and the LuGre friction model proposed by De Wit et al. [2]; the parameters involved in the models are determined using a system identification approach. Experiments are carried out to verify the effectiveness of the model. It is shown that the simulation and experimental results are in a good agreement. This study provides a new way to model thermal effect for other micro motion systems.

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

“…In contrary to the works of Li et al, it is assumed in this paper that all the coefficients of the temperature dependent functions assigned to the friction parameters are unknown, no a priori knowledge about the temperature and the environment is required and measurement of the joint acceleration is not necessary. It makes the proposed controller applicable to a wide temperature range and also the characteristics of the environment are no longer required.…”

“…Based on the literature review and the discussion provided in this paper, the coefficients σ 0 , σ 1 , and f are essentially unknown and so the temperature dependence makes the system uncertain. The coefficients σ 0 , σ 1 , and f are described by the functions used in the works of Li et al in order to cover the real‐life problems and extend them to the case where the coefficients of these functions are unknown. It is presented in the following equations: where, K 1 , K 2 , P 1 , P 2 , h 1 , and h 2 are the coefficients describing the thermal profile of σ 0 , σ 1 , and f parameters that are typically unknown and T is the temperature.…”

“…Li et al proposed a temperature dependent dynamic friction model that was an extension of the LuGre model and was developed in multiplicative and additive forms. The proposed model is applicable to a limited temperature range.…”