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  • Improved micropositioning of 2 DOF stage by using the neural network compensation of plant nonlinearities
    Čas, Jure, dr. elektrotehnike, 1982- ; Škorc, Gregor ; Šafarič, Riko
    This paper describes the system for micropositioning of a 2 DOF mechanism with piezoelectric actuators (PEAs), which is called a piezo actuated stage (PAS). The PAS is fabricated by a photo ... structuring process from photosensitive glass and PEAs are built-on to meet the request for its precisemovement. The PAS is designed as a general 2 DOF stage. It can be used for different micropositioning or micro-assembling tasks according to the selected end-effector. The other components of the closed-loop control system for micropositioning of PAS are the high voltage drivers, the incremental position sensors and the control processing unit. Due to the nonlinear behaviour of the system for micropositioning, the precise position control of PAS with traditional PI controller is aggravated. Concerning the plant nonlinearities, the feedforward neural networks (NN) are used as a tool for their compensation. After the training procedure with the back-propagation (BPG) algorithm, the trained NN inverse model of plant nonlinearities is used as a feedforward part of proposed controller. Concerning the experiment results, the NN compensation improves the control performance of traditional PI controller.
    Vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 56, no. 10, 2010, str. 599-608)
    Vrsta gradiva - članek, sestavni del
    Leto - 2010
    Jezik - angleški
    COBISS.SI-ID - 14141974

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