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题名: Unified Hysteresis and Creep Compensation in AFM Tip Positioning with an Extended PI Model
作者: Wang ZY(王智宇); Liu LQ(刘连庆); Wang ZD(王志东); Wang WX(王文学)
作者部门: 机器人学研究室
会议名称: 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
会议日期: May 31 - June 7, 2014
会议地点: HongKong, China
会议录: 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1606-1611
收录类别: EI
ISBN号: 978-1-4799-3685-4
关键词: Hysteresis ; Creep ; Prandtl-Ishlinskii model ; AFM ; Pizeoelectric
摘要: The nonlinearities such as hysteresis and creep are the major factors inherent in PZT actuation that affect the tip positioning precision and manipulation performance of the AFM system. In this study, an extended PI model is generalized by introducing a creep model to the basic hysteretic operator of the PI model at the inflexion point of the hysteresis loop. Unified compensation for hysteresis and creep can be implemented with the extended PI model. Experiment results demonstrate the validity and effectiveness of the extended PI model and it is implied that the inflexion creep compensation not only improves the tip positioning precision at the inflexion points on the hysteresis loops, but also the localization effectiveness during the whole process of PZT actuation.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15392
Appears in Collections:机器人学研究室_会议论文

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文件名: Unified Hysteresis and Creep Compensation in AFM Tip Positioning with an Extended PI Model.pdf
格式: Adobe PDF
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