具有力/位置相互作用干扰的顺应式压电微型夹持器的多变量开关控制

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-10-12 DOI:10.1016/j.conengprac.2024.106102

Gaohua Wu , Yiling Yang , Yuguo Cui , Guoping Li , Yanding Wei

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引用次数: 0

摘要

本文介绍了压电微型机械手输出位移、抓取力和操纵位置的多变量开关控制。与现有的微机械手控制不同，它同时调节力/位置变量。同时，力/位置相互作用干扰和信号本身的过冲也被抑制。首先，介绍了具有两个独立抓取臂的对称微型机械手。然后，通过考虑结构动力学、机电耦合和力/位置相互作用，建立了广义动态模型。然后，提出了多变量切换控制，利用双输入双输出（DIDO）扰动位移和力/位置控制器实现夹持-释放操纵。最后，进行了各种切换实验，结果表明力/位置交互干扰分别减少了 83.76 % 和 87.51 %，干扰抑制时间从 0.86 秒和 0.70 秒缩短到 0.49 秒和 0.41 秒。所提出的多变量开关控制具有优异的调节性能，保证了操纵精度和稳定性。

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Multivariable switching control of a compliant piezoelectric microgripper with force/position interaction interferences

This paper presents multivariable switching control of a piezoelectric microgripper regarding its output displacement, gripping force, and manipulated position. Unlike existing microgripper control, it simultaneously regulates force/position variables. Meanwhile, force/position interaction interferences and signal itself overshooting are suppressed. Firstly, a symmetrical microgripper with two independent gripping arms is introduced. Then, a generalized dynamic model is established by considering structural dynamics, electromechanical coupling, and force/position interaction. After that, multivariable switching control is proposed to achieve clamp-carry-release manipulation using dual-input and dual-output (DIDO) perturbation displacement and force/position controllers. Finally, various switching experiments are conducted, demonstrating that force/position interaction interferences are reduced by 83.76 % and 87.51 %, and interference-suppression time is shortened from 0.86 s and 0.70 s to 0.49 s and 0.41 s. Also, overshoots of gripping force and position are eliminated with a smaller settling time. The proposed multivariable switching control exhibits superior regulation performance, guaranteeing manipulation accuracy and stability.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.