Control, Measurement and Estimation of Piezoelectric Actuator Driven System for Precision Positioning

This paper presents the design and development of a piezo-driven precision positioning system with the fusion of position control and sensing framework. By integrating an inverse control algorithm and strain-gauge sensor for measuring the piezoelectric actuator relative position in real time, the entire precision positioning system features a compact and low cost solution with eased installation and maintenance. Hysteresis is a prominent nonlinearity which severally effects system performance. In this research, the actuator has been mathematically modelled using second order system and Dahl model is used to reduce the hysteresis nonlinearity. The challenge of converting the desired trajectory to its corresponding voltage signature which is required to actuate the actuator is achieved using Inverse Dahl model. Full bridge type strain gauge circuit is developed and used due to its better sensitivity and temperature compensation. The effectiveness of the developed precision positioning system is experimentally verified in real time using dSPACE1202 hardware platform on piezoelectric actuators. The experimental results suggest a strong correlation with the input reference trajectory and the actual traversed path of the piezoelectric actuator based on proposed control, measurement and parametric estimation.