摘要
针对微零件装配工艺的需要,开发了一套基于压电陶瓷驱动的微夹钳,建立了压电陶瓷驱动微夹钳位移与电压的关系模型,针对压电陶瓷迟滞现象提出了基于Dahl模型的前馈补偿控制和PID混合控制算法,微装配实验证明该模型结构控制效果好,能达到控制要求。
A micro-gripper that actuated by piezoelectric cantilever was developed for the need of micro parts assembly. The displacement-voltage relationship model was given herein. For hysteresis of piezoelectric ceramic, a mix control algorithm was presented, which employed the hysteresis offset control model based on Dahl and PID control model. The results of micro-assembly prove that the model is efficiency and feasibility.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第7期766-769,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2005AA844120)
