Modeling and motion control of 6-DOF ultra-precision stage based on iterative learning and fractional-order PID

Liu, Yang; Fu, Xuewei; Chen, Zhenyu; Zhang, Fu; Tan, Jiubin

doi:10.1109/chicc.2016.7554051

Cited by 2 publications

(3 citation statements)

References 12 publications

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“…Li et al put forward a control approach based on fractional order control technique with the aim to achieve high-bandwidth tracking control of the piezoactuated nano-positioning stage [18]. Liu et al proposed a new method consisting the iterative learning control and fractional order PID control to satisfy the requirements of the positioning accuracy and the high speed for a precision stage [19].…”

Section: Introductionmentioning

confidence: 99%

Fractional order zero phase error tracking control of a novel decoupled 2-DOF compliant micro-positioning stage

Wu¹,

Lai²,

Zhang³

et al. 2021

J. Micromech. Microeng.

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This study focuses on a piezo-actuated two-degrees-of-freedom (2-DOF) decoupled compliant micro-positioning stage driven by a novel compound bridge-type amplification mechanism embedded with Scott-Russell mechanism. According to the system identification, the transfer functions of two working directions are obtained. Both of the measured dynamic cross couplings between them are also lower than −40 dB, demonstrating that the single-input-single-output control strategy can be adopted reasonably. Based on the identified frequency response, a fractional order proportional-integral (FOPI) controller is designed for the 2-DOF compliant micro-positioning stage. Compared with the integer order proportional-integral (IOPI) controller using same parameters, the amplitude error of the FOPI controller is 2% lower than that of IOPI controller. Additionally, a fractional order zero phase error controller (FOZPETC) is designed by obtaining the inverse of the fractional order closed-loop system in a large frequency range. And the gain of the corrected control system is 1 in a wide frequency band to eliminate the phase error in the close-loop control system. Finally, using the compound control strategy of FOZPETC+FOPI, a series of trajectory tracking tests are carried out on the proposed novel 2-DOF compliant micro-positioning stage. All the experimental results prove that the designed controller can achieve good positioning and tracking performance of the micro-positioning stage, and confirm the effectiveness of the compound control strategy of FOZPETC+FOPI.

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Section: Introductionmentioning

confidence: 99%

Fractional order zero phase error tracking control of a novel decoupled 2-DOF compliant micro-positioning stage

Wu¹,

Lai²,

Zhang³

et al. 2021

J. Micromech. Microeng.

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“…Tabu search is studied in Ateş and Yeroglu (2016) to tune the parameters of FOPID. Apart from the heuristic methods, in Liu et al (2016), a hybrid Iterative Learning Control (ILC) and FOIPD approach is used, for precise motion tracking, along with speed and electric current tracking. To control a solar furnace, Beschi et al (2016) presented a gain scheduling FOPID along with iso-damping method to cope with the very high nonlinearity of the solar furnace owing to the temperature variation.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, IFT has several benefits over many existing methods of FOPID tuning. First, it is a model-free method and plant dynamics are not needed, compared with the model-based methods like (Liu et al, 2016). Second, owing to its mathematical-based structure, the convergence analysis is straight forward in contrast to the heuristic methods like PSO (Wu et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Fractional order Proportional-Integral-Derivative Controller parameter selection based on iterative feedback tuning. Case study: Ball Levitation system

Estakhrouiyeh

Gharaveisi

Vali

2017

Transactions of the Institute of Measurement and Control

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In the present research, Iterative Feedback Tuning (IFT) algorithm is employed to tune a type of fractional order Proportional-Integral-Derivative (PID) [Formula: see text] controller. For this purpose, fractional order calculus is introduced and some important principles are represented. Then, IFT algorithm is presented in a general form. Following it, IFT algorithm is derived to tune the specific type of PID. The relevant update law is calculated for the fractional order controller. Finally, the proposed algorithm is tested on a Hardware in Loop (HIL) system, that is, Ball Levitation (BL) system, and the efficiency of the proposed method is verified via experiments.

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Modeling and motion control of 6-DOF ultra-precision stage based on iterative learning and fractional-order PID

Cited by 2 publications

References 12 publications

Fractional order zero phase error tracking control of a novel decoupled 2-DOF compliant micro-positioning stage

Fractional order zero phase error tracking control of a novel decoupled 2-DOF compliant micro-positioning stage

Fractional order Proportional-Integral-Derivative Controller parameter selection based on iterative feedback tuning. Case study: Ball Levitation system

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