Quadrilateral Modelling and Robust Control of a Nonlinear Piezoelectric Cantilever

摘要: Piezocantilevers are commonly used for the actuation of micromechatronic systems. These systems generally to perform micromanipulation tasks which require high positioning accuracy. However, nonlinearities, i.e., hysteresis and creep, piezoelectric materials influence environment (vibrations, temperature change, etc.) create difficulties such a performance be achieved. Various models have been take into account nonlinearities but they often complex. In this paper, we study one degree freedom cantilever. For that, propose simple new model where curve is approximated by quadrilateral creep considered disturbance. To facilitate modelling, first demonstrate that dynamic piezocantilever equivalent static hysteresis, varying gain, in series with linear part. The obtained synthesize robust controller, making it possible achieve performances required tasks. experimental results show relevance combination developed synthesized H infin controller.