Control of a 2-DOF ultrasonic piezomotor stage for grommet insertion

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• 作者：Wenyu Liang ; Kok Kiong Tan ; Sunan Huang ; Le Phoung Pham ; Hsueh Yee Lim ; Chee Wee Gan
• 关键词：Ultrasonic piezomotor ; Grommet insertion ; Multi-DOF control ; LQR ; PID controller ; Nonlinear compensation
• 刊名：Mechatronics
• 出版年：December, 2013
• 年：2013
• 卷：23
• 期：8
• 页码：1005-1013
• 全文大小：2041 K

文摘

The treatment of a common disease called 鈥淥titis Media with Effusion (OME)鈥?involves the surgeon inserting a grommet in the eardrum to bypass the Eustachian tube for draining fluid when medication fails. In this paper, a novel device for myringotomy and grommet insertion is first designed and introduced. Due to the advantages of high precision and fast response, a 2-DOF ultrasonic piezomotor (USM) stage is chosen to provide the motion sequences of the device, especially a precise path tracking during the grommet insertion. This paper briefly presents the mechanical design of the device and the configuration and control of the 2-DOF USM stage. The model of the USM consisting of a linear and nonlinear term is built. A PID controller is used as the main controller and tuned with the help of LQR technique. Since there are nonlinear dynamics caused by friction and hysteresis existing in the system, a nonlinear compensation including a sign function and sliding mode control is designed to reject the nonlinearity. Moreover, a decoupling controller is designed to eliminate the coupling effects between the two USM stages. The experimental results show that the LQR-assisted PID controller with compensation can achieve very good system performance and the decoupling controller can further improve the performance.