Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 20, Issue 2, Pages 910-923Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2014.2326396
Keywords
Dynamics; friction; piezoelectric devices; stability analysis
Categories
Funding
- National Science Foundation [CMMI 1000404]
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This paper studies the velocity control of a large-range piezoelectrically actuated (piezo) stepper. The main contribution of this paper is to extend the Poincare-map approach for evaluating the stability of the stepper dynamics in the presence of Coulomb-friction nonlinearity, which has a jump discontinuity with velocity. Additionally, inversion of the stepper-dynamics model is used to find the piezo input for controlling the stepper velocity, and model-based predictions of the stepper velocity are evaluated using an experimental-stepper system.
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