Liang Cunman, Wang Fujun, Tian Yanling, Zhao Xingyu, Zhang Dawei
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300054, China.
Rev Sci Instrum. 2017 Nov;88(11):115101. doi: 10.1063/1.5009183.
This paper presents the grasping force hysteresis compensation of a piezoelectric-actuated wire clamp with a modified hysteresis model. Considering dynamic characteristics of the wire clamp, a modified inverse Prandtl-Ishlinskii (MIPI) hysteresis model is developed to improve the hysteresis modeling accuracy. The proposed MIPI model is composed of a P-I model and a dynamic model which are connected in parallel. The proposed hysteresis model has the advantage of high modeling accuracy with a concise identification process, which means the step by step identification is not needed here. Experiments on grasping force hysteresis compensation with a feedforward controller are carried out based on the developed MIPI model. The grasping force error in steady state lies in ±8.17 mN, while the maximum percentage and root mean square percentage of the grasping force error are 2.93% and 0.92%, respectively. The results show that the proposed hysteresis model is efficient and the wire clamp exhibits good performance with the feedforward controller. Therefore high frequency grasping operations can be realized based on the proposed MIPI hysteresis model.
本文提出了一种基于改进迟滞模型的压电驱动线夹抓取力迟滞补偿方法。考虑到线夹的动态特性，建立了一种改进的逆Prandtl-Ishlinskii（MIPI）迟滞模型，以提高迟滞建模精度。所提出的MIPI模型由一个P-I模型和一个动态模型并联组成。该迟滞模型具有建模精度高、识别过程简洁的优点，即无需进行逐步识别。基于所建立的MIPI模型，利用前馈控制器进行了抓取力迟滞补偿实验。稳态下抓取力误差在±8.17 mN以内，抓取力误差的最大百分比和均方根百分比分别为2.93%和0.92%。结果表明，所提出的迟滞模型是有效的，线夹在前馈控制器作用下表现出良好的性能。因此，基于所提出的MIPI迟滞模型可以实现高频抓取操作。
