Multivariable compensation of hysteresis, creep, badly damped vibration and cross-couplings in multi-axes piezoelectric actuators
Résumé
This paper presents the control of a two degrees of freedom (2-DOF) piezoelectric actuator that exhibits hysteresis nonlinearity, creep nonlinearity, badly damped vibration and cross-couplings without using feedback sensors. The principle consists in compensating first the hysteresis, then the creep and finally the vibration. The proposed compensation technique is multivariable and therefore is also able to reduce the crosscouplings which are unwanted phenomena. The experimental tests demonstrate that the hysteresis which initially exceeds 19% is reduced to about 0.01% while the creep is reduced from 5.5% to 0.04%. Regarding the vibration, the related overshoot which was initially 45% is completely removed
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