Modelling of a piezohydraulic actuator for control of a parallel micromanipulator

Quan Zhou*, Pasi Kallio, Heikki N. Koivo

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    10 Citations (Scopus)

    Abstract

    Piezoelectric actuators have such disadvantageous properties as hysteresis nonlinearity and drift. This paper discusses a hybrid model to describe those properties. The model consists of a dynamic linear part and a static nonlinear part. The dynamic part uses two poles to describe the dynamic response and drift property. The static nonlinear part modifies the parameters of the linear dynamic model to adapt the model to hysteresis nonlinearity and gain nonlinearity. The model is generated for a piezohydraulic actuator based on a multistage step signal. Simulation and experimental results show that the model is able to predict the drift and the nonlinear properties of the actuator.

    Original languageEnglish
    Title of host publicationProceedings 1999 IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Pages2750-2755
    Number of pages6
    Volume4
    ISBN (Print)0-7803-5180-0
    DOIs
    Publication statusPublished - 1 Jan 1999
    MoE publication typeA4 Article in a conference publication
    EventIEEE International Conference on Robotics and Automation - Detroit, United States
    Duration: 10 May 199915 May 1999

    Publication series

    NameIEEE International Conference on Robotics and Automation
    PublisherIEEE
    ISSN (Print)1050-4729

    Conference

    ConferenceIEEE International Conference on Robotics and Automation
    Abbreviated titleICRA
    CountryUnited States
    CityDetroit
    Period10/05/199915/05/1999

    Fingerprint Dive into the research topics of 'Modelling of a piezohydraulic actuator for control of a parallel micromanipulator'. Together they form a unique fingerprint.

    Cite this