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A Model Reference Adaptive PID Control for Electromagnetic Actuated Micro-positioning Stage
Xiao SL(肖舜立); Li YM(李杨民); Liu JG(刘金国)
作者部门空间自动化技术研究室
会议名称8th IEEE International Conference on Automation Science and Engineering(CASE 2012)
会议日期August 20-24, 2012,
会议地点Seoul, Korea.
会议主办者IEEE
会议录名称8th IEEE International Conference on Automation Science and Engineering(CASE 2012)
出版者IEEE
出版地New York, USA
2012
页码97-102
收录类别EI
EI收录号20130415934332
产权排序2
摘要This paper presents a model reference adaptive PID controller for controlling a novel compliant flexuresbased XY micro-positioning stage driven by electromagnetic actuators. The stage is specially designed by employing double four-bar parallelogram flexures and four non-contact electromagnetic force actuators to realize the kinematic decoupling and force decoupling respectively. Based on preliminary open loop experiments and simple PID controller based close-loop experiments, we found that the system is with typical hysteresis and nonlinear characteristics. As model reference adaptive control techniques possess great advantages to tackle robustness issues of nonlinear and model uncertainty systems, it is designed and adopted to control the micro-manipulator system. At first, a model reference adaptive PID controller design process is introduced. Then control parameters are systematically tuned based on intuitive desired performance and robustness. At last, experimental results verify the process for controlling the micropositioning stage, which shows that the adopted controller can drive the mobile stage to track the desired reference path exactly.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10165
专题空间自动化技术研究室
作者单位1.Department of Electromechanical Engineering, University of Macau, Taipa 999078, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Xiao SL,Li YM,Liu JG. A Model Reference Adaptive PID Control for Electromagnetic Actuated Micro-positioning Stage[C]//IEEE. New York, USA:IEEE,2012:97-102.
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