Title :
A model of a servo piezo mechanical hydraulic actuator and its regulation using repetitive control
Author :
Mercorelli, Paolo ; Werner, Nils
Author_Institution :
Inst. of Product & Process Innovation, Leuphana Univ. of Lueneburg, Lueneburg, Germany
Abstract :
In this paper a modelling of a hybrid actuator is proposed. The hybrid actuator consists of a piezo-mechanical structure and a hydraulic ratio displacement. Particular attention is paid to a liquid spring model of the displacement ratio which represents the hydraulic part of the mechanism. Moreover, a repetitive control is proposed to track a periodic signal together with a proportional derivative (PD) one. Repetitive control is a control method, which is associated with periodic input variables and it is successfully used together with a supplementary control structure. The supplementary control structure must be devoted to the stabilisation of the control loop. Simulations and measured results of the closed loop carried out the suitability of the control approach.
Keywords :
PD control; closed loop systems; hydraulic actuators; microactuators; stability; actuator regulation; closed loop control; control loop stabilisation; displacement ratio; hydraulic ratio displacement; liquid spring model; periodic input variables; piezomechanical structure; proportional derivative control; repetitive control; servo piezo mechanical hydraulic actuator; supplementary control structure; Actuators; Force; Hysteresis; Liquids; Mathematical model; Servomotors; Springs; Hybrid actuators; Modelling; Repetitive control;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878076
