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Wang H, Li Q, Zhou F, Zhang J. High-Precision Positioning Stage Control Based on a Modified Disturbance Observer. SENSORS (BASEL, SWITZERLAND) 2024; 24:591. [PMID: 38257683 PMCID: PMC10820729 DOI: 10.3390/s24020591] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/27/2023] [Revised: 12/20/2023] [Accepted: 12/29/2023] [Indexed: 01/24/2024]
Abstract
High-precision positioning systems play a crucial role in various industrial applications. This study focuses on improving the performance of a high-precision multi-degrees-of-freedom (DOF) stage. In terms of the controller design, the following two key challenges must be addressed: the cross-decoupling of different DOFs and the impact of external disturbances. To address these problems, a self-tuning approach is proposed for simultaneous decoupling and disturbance suppression. Initially, the stage undergoes static decoupling using a data-based approach, facilitating feedback control for each DOF through single-input, single-output controllers. Addressing dynamic coupling and external disturbance challenges, we introduced a comprehensive evaluation index and a self-tuning multi-input, multi-output disturbance observer. This approach enabled the evaluation and optimization of the disturbance compensation for all DOFs, ensuring optimal positioning accuracy. Finally, we tested the proposed method using a high-precision multi-DOF stage with a real-time control platform. The results demonstrated a significant reduction in the standard deviations of positioning errors in the rx, ry, and z directions by 46%, 58%, and 6%, respectively. The approach used in this study opens avenues for advancements in the design and control of complex multi-DOF systems.
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Affiliation(s)
- Hui Wang
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; (Q.L.); (F.Z.); (J.Z.)
- University of Chinese Academy of Sciences, Beijing 100049, China
| | - Qiang Li
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; (Q.L.); (F.Z.); (J.Z.)
| | - Feng Zhou
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; (Q.L.); (F.Z.); (J.Z.)
| | - Jingxu Zhang
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; (Q.L.); (F.Z.); (J.Z.)
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Development of a Compound Speckle Interferometer for Precision Three-Degree-of-Freedom Displacement Measurement. SENSORS 2021; 21:s21051828. [PMID: 33807928 PMCID: PMC7961601 DOI: 10.3390/s21051828] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/08/2020] [Revised: 02/28/2021] [Accepted: 03/02/2021] [Indexed: 11/16/2022]
Abstract
In this study, a compound speckle interferometer for measuring three-degree-of-freedom (3-DOF) displacement is proposed. The system, which combines heterodyne interferometry, speckle interferometry and beam splitting techniques, can perform precision 3-DOF displacement measurements, while still having the advantages of high resolution and a relatively simple configuration. The incorporation of speckle interferometry allows for non-contact displacement measurements by detecting the phase of the speckle interference pattern formed from the convergence of laser beams on the measured rough surface. Experiments were conducted to verify the measurement capabilities of the system, and the results show that the proposed system has excellent measurement capabilities suitable for future real-world applications.
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Hu C, Shi Y, Liu F. Research on Precision Blanking Process Design of Micro Gear Based on Piezoelectric Actuator. MICROMACHINES 2021; 12:mi12020200. [PMID: 33672013 PMCID: PMC7919276 DOI: 10.3390/mi12020200] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/02/2021] [Revised: 02/10/2021] [Accepted: 02/13/2021] [Indexed: 11/17/2022]
Abstract
In order to process micro scale parts more conveniently, especially the micro parts with complex shape, a new micro blanking equipment based on piezoelectric ceramic driving is proposed in this paper. Compared with other large precision machining equipment, the equipment cost has been greatly reduced. Using displacement sensor to detect the change of output displacement and feedback control piezoelectric actuator to control the change of relevant parameters, the control precision is high. The micro gear parts with diameter less than 2 mm are obtained through the blanking experiment on the experimental equipment. From the relationship between the obtained time and the punch output force, output displacement and die adjustment, it can be seen that the designed equipment has good processing performance and can complete the blanking forming of micro parts well.
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Wang G, Wang Y, Lv B, Ma R, Liu L. Research on a New Type of Rigid-Flexible Coupling 3-DOF Micro-Positioning Platform. MICROMACHINES 2020; 11:mi11111015. [PMID: 33218204 PMCID: PMC7699224 DOI: 10.3390/mi11111015] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/05/2020] [Revised: 11/09/2020] [Accepted: 11/16/2020] [Indexed: 11/22/2022]
Abstract
A new type of rigid-flexible coupling three degrees of freedom (3-DOF) micro-positioning platform with high positioning accuracy and high bearing capacity is developed, which consists of flexible drive mechanism and rigid platform. The flexible drive mechanism consists of three sets of symmetrical parallel round flexible hinge structures, each with a wedge structure in the middle of the symmetrical parallel flexible hinge. The rigid platform has an inclined plane with the same angle as the wedge, while the wedge structure is used to achieve the self-locking effect. The flexibility matrix method and ANSYS are used to analyze the statics of the flexible drive mechanism. The first four natural frequencies of the platform are obtained by dynamic simulation analysis. A symmetrical rigid flexible coupling micro-positioning platform experimental system is developed. Output characteristics, positioning accuracy, relationship between frequency and amplitude, and bearing performance of the micro-positioning platform are tested. These experimental results obviously show that the micro-positioning platform has good motion characteristics, high positioning accuracy, large movement distance, and large load bearing capacity performance.
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Affiliation(s)
- Guilian Wang
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China; (G.W.); (Y.W.); (B.L.); (R.M.)
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384, China
| | - Yong Wang
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China; (G.W.); (Y.W.); (B.L.); (R.M.)
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384, China
| | - Bingrui Lv
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China; (G.W.); (Y.W.); (B.L.); (R.M.)
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384, China
| | - Ruopeng Ma
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China; (G.W.); (Y.W.); (B.L.); (R.M.)
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384, China
| | - Li Liu
- Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China; (G.W.); (Y.W.); (B.L.); (R.M.)
- National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384, China
- Correspondence:
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Li PZ, Zhang DF, Hu JY, Lennox B, Arvin F. Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy System. SENSORS 2020; 20:s20092587. [PMID: 32370109 PMCID: PMC7249067 DOI: 10.3390/s20092587] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/24/2020] [Revised: 04/22/2020] [Accepted: 04/29/2020] [Indexed: 11/28/2022]
Abstract
The piezoelectric actuator is indispensable for driving the micro-manipulator. In this paper, a simplified interval type-2 (IT2) fuzzy system is proposed for hysteresis modelling and feedforward control of a piezoelectric actuator. The partial derivative of the output of IT2 fuzzy system with respect to the modelling parameters can be analytically computed with the antecedent part of IT2 fuzzy rule specifically designed. In the experiments, gradient based optimization was used to identify the IT2 fuzzy hysteresis model. Results showed that the maximum error of model identification is 0.42% with only 3 developed IT2 fuzzy rules. Moreover, the model validation was conducted to demonstrate the generalization performance of the identified model. Based on the analytic inverse of the developed model, feedforward control experiment for tracking sinusoidal trajectory of 20 Hz was carried out. As a result, the hysteresis effect of the piezoelectric actuator was reduced with the maximum tracking error being 4.6%. Experimental results indicated an improved performance of the proposed IT2 fuzzy system for hysteresis modelling and feedforward control of the piezoelectric actuator.
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Affiliation(s)
- Peng-Zhi Li
- Robotics for Extreme Environments Lab, Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK; (J.-Y.H.); (B.L.)
- Correspondence: (P.-Z.L.); (F.A.)
| | - De-Fu Zhang
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China;
| | - Jun-Yan Hu
- Robotics for Extreme Environments Lab, Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK; (J.-Y.H.); (B.L.)
| | - Barry Lennox
- Robotics for Extreme Environments Lab, Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK; (J.-Y.H.); (B.L.)
| | - Farshad Arvin
- Robotics for Extreme Environments Lab, Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK; (J.-Y.H.); (B.L.)
- Correspondence: (P.-Z.L.); (F.A.)
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Zhao L, Yu X, Li P, Qiao Y. High-precision compliant mechanism for lens XY micro-adjustment. THE REVIEW OF SCIENTIFIC INSTRUMENTS 2020; 91:035004. [PMID: 32259923 DOI: 10.1063/1.5141138] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/14/2019] [Accepted: 03/09/2020] [Indexed: 06/11/2023]
Abstract
The high resolution of lithography lenses has led to a requirement for high-precision lens-adjusting compensators. This paper presents the design, analysis, and testing of a high-precision two-degrees-of-freedom compliant mechanism to be used for lens XY micro-adjustment. The monolithic mechanism, which is based on a 1RR-2RRR configuration, uses flexure hinges to connect the movable inner ring with the fixed outer ring. The apparatus is driven using two piezoelectric actuators, and the lens terminal displacement is fed back in real time using two capacitive sensors. This paper describes the principle of the mechanism. Simulations and experiments are then performed to evaluate the system. The results show that the strokes along both the x-axis and the y-axis exceed ±25 µm. The accuracy of the proposed mechanism is better than ±7 nm. The root-mean-square induced figure error is better than 0.051 nm. The coupling z and tip/tilt rigid motions are less than 50 nm and 220 mas, respectively. The first natural frequency of the mechanism is 212 Hz. These results indicate that the mechanism has advantages that include high accuracy, low coupling errors, high rigidity, and compactness and that it will act as an efficient compensator for lithography lenses.
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Affiliation(s)
- Lei Zhao
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Dongnanhu Road, 3888#, 130033 Changchun, People's Republic of China
| | - Xinfeng Yu
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Dongnanhu Road, 3888#, 130033 Changchun, People's Republic of China
| | - Pengzhi Li
- Robotics for Extreme Environments Lab (REEL), School of Electrical and Electronic Engineering, The University of Manchester, Manchester M139PL, United Kingdom
| | - Yanfeng Qiao
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Dongnanhu Road, 3888#, 130033 Changchun, People's Republic of China
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Choque I, Servin M, Padilla M, Asmad M, Ordones S. Phase measurement of nonuniform phase-shifted interferograms using the frequency transfer function. APPLIED OPTICS 2019; 58:4157-4162. [PMID: 31158173 DOI: 10.1364/ao.58.004157] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/25/2019] [Accepted: 04/25/2019] [Indexed: 06/09/2023]
Abstract
In this paper, we propose a phase measurement method for interferograms with nonuniform phase shifts. First, we measure the phase shifts between consecutive interferograms. Second, we use these values to modify the spectrum of the interferogram data. Then, by analyzing this spectrum, we design a suitable phase-shifting algorithm (PSA) using the frequency transfer function formalism. Finally, we test our PSA with experimental data to estimate the surface of an aluminum thin film. Our result is better than those obtained using the Fourier transform method, the principal component analysis method, and the least-squares PSA.
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