Single axis precise motion control using piezoactuator associated with a compliant mechanism

Download

index.pdf

Date

2013

Author

Yaşar, Gökhan

Metadata

Show full item record

Item Usage Stats

202
views

188
downloads

Mechanical amplification is achieved using a multi-flexure-hinge based compliant mechanism, due to limited displacement range of piezoactuator. In the design stage of mechanism, a comparison matrix analysis is performed to decide the best alternative among the possible compliant mechanism candidates. The mechanical design parameters of the displacement amplifier is determined optimally using the analytical equation derived using Pseudo Rigid Body Model, and the static analysis is performed using finite element method to validate the analytical findings. The control system is implemented both to compensate the hysteresis effect and procure precise positioning. In this manner, a model based feedforward model (Bouc-Wen Model) is used as hysteresis compensation and a Proportional Integral (PI) control is used to minimize the error between the desired and actual position. In addition, Zero Phase Error Tracking Control (ZPETC) is added to the system to track the reference input more precisely. The overall mechanism is manufactured using Electro Discharge Machining (EDM) to be used in experiments. The control system is empirically realized and results such as sinusoidal and step responses are evaluated in time domain for each controller separately. All the findings including amplification ratio and controller performance of each control algorithm are validated and evaluated using experimental setup with proper instrumentation.

Subject Keywords

Motion., Mechanics., Dynamics., Piezoelectricity., Finite element method.

URI

http://etd.lib.metu.edu.tr/upload/12616339/index.pdf
https://hdl.handle.net/11511/23012

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Simulation of glow discharge plasmas by using parallel particle in cell / monte carlo collision method : the effects of number of super particles used in the simulations Erden, Emrah; Çetinkaya, Tahsin Ali; Rafatov, İsmail; Department of Mechanical Engineering (2013) Mechanical amplification is achieved using a multi-flexure-hinge based compliant mechanism, due to limited displacement range of piezoactuator. In the design stage of mechanism, a comparison matrix analysis is performed to decide the best alternative among the possible compliant mechanism candidates. The mechanical design parameters of the displacement amplifier is determined optimally using the analytical equation derived using Pseudo Rigid Body Model, and the static analysis is performed using finite elem...
Single axis attitude controller design using pulse width modulated thruster Silik, Yusuf; Yaman, Ulaş (2019-05-01) This work consists of design and experimental validation of Pulse Width Modulation (PWM) scheme for a cold gas thruster system which is driven by on/off type of actuators. PWM scheme designed according to the characteristics of the on/off type of actuators obtained by the developed solenoid valve model and the experimentation. Angular position of the single axis rotational platform is controlled by the PWM scheme and the state feedback angular position controller. The PWM scheme and the angular position con...
Extended Abstract: Dynamic Behavior of a Compliant Mechanism Driven by Stacked Piezoelectric Actuators Koyuncu, A.; Şahin, Melin; Özgüven, Hasan Nevzat (2018-02-15) Mechanical amplifiers are employed to enhance output displacement of piezoelectric actuators. Dynamic behavior of such an amplified piezoelectric actuator needs to be known accurately in order to verify its suitability for the driven system. The objective of this study is to present a theoretical approach to determine a mathematical model for an amplified piezoelectric actuator (APA) which consists of a stacked piezoelectric actuator (SPA) with rhombus type mechanical amplifier (RPA). Dynamics of the mechan...
Design and modeling elastomeric vibration isolators using finite element method Ardıç, Halil; Özgen, Gökhan Osman; Özkan, Sami Samet; Department of Mechanical Engineering (2013) In this thesis, a process is developed for designing elastomeric vibration isolators in order to provide vibration isolation for sensitive equipment being used in ROKETSAN A.Ş.’s products. For this purpose, first of all, similar isolators are examined in the market. After that, appropriate elastomeric materials are selected and their temperature and frequency dependent dynamic properties are experimentally obtained. Parametric finite element model of the isolator is then constituted in ANSYS APDL using the ...
Single discharge thermo-electrical modeling of micromachining mechanism in electric discharge machining Sarikavak, Yasin; Cogun, Can (2012-05-01) In this study, single discharge thermo-electrical model of workpiece material removal in electrical discharge machining (EDM) was developed. Developed model includes generation of energy in liquid media, variation of plasma channel radius and transfer of heat from the channel by the electrical discharge. Effect of generated energy in plasma channel on workpiece removal was theoretically investigated by using different experimental parameters used in literature. The developed model finds the temperature dist...

Citation Formats

G. Yaşar, “Single axis precise motion control using piezoactuator associated with a compliant mechanism,” M.S. - Master of Science, Middle East Technical University, 2013.