Precision Motion Control of a Smart Structure Using an Enhanced Stick-Slip Model

2008 ◽  
Vol 56 ◽  
pp. 98-103 ◽  
Author(s):  
Min Gyu Jang ◽  
Chul Hee Lee ◽  
Seung Bok Choi
Keyword(s):  
Position Control ◽  
Static Friction ◽  
Smart Structure ◽  
Slip Model ◽  
Stick Slip ◽  
Precise Position ◽  
Positioning Device ◽  
Bridge Type ◽  
Rough Surface Contact ◽  
Precision Motion

In this paper, a smart structure for the micro position control is proposed using the piezo stack actuator. The smart structure is comprised with PZT based stack actuator, mechanical displacement amplifier and positioning devices. Based on the bridge-type flexural hinge mechanism, a displacement amplifier is designed and integrated with a piezo stack actuator to produce a desirable positioning stroke of the device. In order to achieve the high precision control performance in a positioning device, a stick-slip phenomenon should be suppressed in contacting surfaces of the device, which is generally indispensable in the mechanically connected systems and particularly obvious for the micro-scale system. Therefore, the stick-slip model is enhanced by theoretically calculating the static friction based on the statistical rough surface contact model. Then, a PID feedback control algorithm with the developed stick-slip model is formulated for achieving accurate positioning of the device. Using the proposed smart structure, simulations of precise position control under the representative operating condition of positioning are conducted to demonstrate the stick-slip suppressing and micro positioning performance.

Stick-Slip Compensation of Micro-Positioning Using Elastic-Plastic Static Friction Model

2008 ◽  
Vol 47-50 ◽  
pp. 246-249
Author(s):  
Min Gyu Jang ◽  
Chul Hee Lee ◽  
Seung Bok Choi
Keyword(s):  
Static Friction ◽  
Friction Model ◽  
Smart Structure ◽  
Asperity Contact ◽  
Stick Slip ◽  
Elastic Plastic ◽  
Highly Nonlinear ◽  
Bridge Type ◽  
Structural Parts ◽  
Rough Surface Contact

In this paper, a stick-slip compensation for the micro-positioning is presented using the statistical rough surface contact model. As for the micro-positioning structure, PZT (lead(Pb) zirconia(Zr) Titanate(Ti)) actuator is used to drive the load for precise positioning with its high resolution incorporating with the PID (Proportional Integral Derivative) control algorithm. Since the stick-slip characteristics for the micro structures are highly nonlinear and complicated, it is necessary to incorporate more detailed stick-slip model for the applications involving the high precision motion control. Thus, the elastic-plastic static friction model is used for the stick-slip compensation considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of the system for the positioning apparatus was derived from the dynamic behaviors of structural parts. Since the conventional piezoelectric actuator generates the short stroke, a bridge-type flexural hinge mechanism is introduced to amplify the linear motion range. Using the proposed smart structure, simulations under the representative positioning motion were conducted to demonstrate the micro-positioning under the stick-slip friction.

Measurements of the Static Friction Coefficient Between Tin Surfaces and Comparison to a Theoretical Model

2011 ◽  
Vol 133 (3) ◽  
Author(s):  
Rebecca D. Ibrahim Dickey ◽  
Robert L. Jackson ◽  
George T. Flowers
Keyword(s):  
Theoretical Model ◽  
Friction Coefficient ◽  
Human Error ◽  
Surface Profile ◽  
Static Friction ◽  
Quantitative Agreement ◽  
High Plasticity ◽  
Static Friction Coefficient ◽  
Experimental Apparatus ◽  
Rough Surface Contact

A new experimental apparatus is used to measure the static friction between tin surfaces under various loads. After the data is collected it is then compared to an existing theoretical model. The experiment uses the classical physics technique of increasing the incline of a plane and block until the block slides. The angle at the initiation of sliding is used to find the static friction coefficient. The experiment utilizes an automated apparatus to minimize human error. The finite element based statistical rough surface contact model for static friction under full stick by Li, Etsion, and Talke (2010, “Contact Area and Static Friction of Rough Surfaces with High Plasticity Index,” ASME Journal of Tribology, 132(3), p. 031401) is used to make predictions of the friction coefficient using surface profile data from the experiment. Comparison of the computational and experimental methods shows similar qualitative trends, and even some quantitative agreement. After adjusting the results for the possible effect of the native tin oxide film, the theoretical and experimental results can be brought into reasonable qualitative and quantitative agreement.

New Type of Hydraulic Rotary Actuator; Development and Application in a Large Telerobotic Manipulator System

2001 ◽  
Author(s):  
John R. Haas
Keyword(s):  
Modular Design ◽  
Large Diameter ◽  
Stick Slip ◽  
Precision Motion Control ◽  
Constant Torque ◽  
Rotary Actuator ◽  
Continuous Rotation ◽  
Potential Applications ◽  
New Type ◽  
Precision Motion

Abstract This paper describes a new type of hydraulic rotary actuator specifically developed to provide precision motion control in a very large, man rated, underwater telerobotic manipulator system. The high pressure, high torque rotary actuators are hydrostatically balanced, provide continuous rotation, constant torque output, exhibit minimal “stick-slip” and zero backlash. It is believed that the combination of features and the performance exhibited by these actuators represent an improvement in actuator technology to such an extent as to make projects previously determined unfeasible, now practical. Features of particular design value are a very large diameter through bore, and a truly modular design permitting use as an integral structural member. This paper will address design rationale, operating principles, key design features, product development highlights, an astronaut trainer case study, future development and potential applications.

Static Friction Models for Vehicle Simulation Study

2006 ◽  
Author(s):  
Xubin Song ◽  
Daniel G. Smedley
Keyword(s):  
Simulation Study ◽  
Static Friction ◽  
Friction Modeling ◽  
Stick Slip ◽  
Vehicle Simulation ◽  
Engineering Software ◽  
Variable Step ◽  
History Of ◽  
Friction Models ◽  
Smooth Dynamics

The history of the challenge of friction modeling is briefly reviewed. Then this paper focuses on the modeling and simulation study of the friction related dynamics in the Simulink® environment, because Matlab®/Simulink® are popular engineering software tools for both industry and academia. Matlab® and Simulink® are the proprietary products of MathWorks, Inc. In this paper, the static friction models are studied through Simulink® by applying fixed and variable step sizes. The comparison shows that the static Karnopp model is not only numerically tractable but also can be inclusive of the fundamental friction characteristics of both stick slip and correct friction predictions. Finally this paper presents an improved Karnopp model for clutch modeling with the use of Simulink®, and the simulation shows that this model is computationally tractable with smooth dynamics.

Precise Position Control of Piezo Actuator

2018 ◽  
pp. 32-1-32-12
Author(s):  
Jian-Xin Xu ◽  
Sanjib Kumar Panda
Keyword(s):  
Position Control ◽  
Piezo Actuator ◽  
Precise Position
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