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题名: A Model Reference Adaptive PID Control for Electromagnetic Actuated Micro-positioning Stage
作者: 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: 8th IEEE International Conference on Automation Science and Engineering(CASE 2012)
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 97-102
收录类别: EI
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.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10165
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
肖舜立; 李杨民; 刘金国.A Model Reference Adaptive PID Control for Electromagnetic Actuated Micro-positioning Stage.见:IEEE .8th IEEE International Conference on Automation Science and Engineering(CASE 2012),New York, USA,2012,97-102
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