1 汇报安排

题 目：参加 IMECE 2015国际会议总结报告会

时 间：2015年11月26日（周四）下午19：00–21:00

地 点：交大曲江校区西五楼 A328

报 告 人：博1116班---方记文

学号：4111001071

指导教师：王煜 教授

2 参会论文信息

会议名称：IMECE 2015

会议日期：13-19 November, 2015

会议地点：Houston, Texas, USA

会议简介：ASME’s International Mechanical Engineering Congress and Exposition (IMECE) is the largest interdisciplinary mechanical engineering meeting in the world. IMECE plays a significant role in stimulating innovation from basic discovery to translational application. It fosters new collaborations that engage stakeholders and partners not only from academia, but also from national laboratories, industry, research settings, and funding bodies. Among the 4,000 attendees from 75+ countries are mechanical engineers in advanced manufacturing, aerospace, advanced energy, fluids engineering, heat transfer, design engineering, materials and energy recovery, applied mechanics, power, rail transportation, nanotechnology, bioengineering, internal combustion engines, environmental engineering, and more.

3 参会论文信息

Tittle: MACRO-MICRO DUAL-DRIVE STAGES BASED ON DUAL SWITCHING CONDITION AND LOCAL CLOSED LOOP

Author: Jiwen Fang, Zhili Long, Lufan Zhang

Abstract-This paper presents macro-micro dual-drive stages using hybrid actuators composed of voice coil motor (VCM) and piezoelectric actuator (PZT actuator). The macro stage driven by voice coil motor can achieve large travel range and coarse positioning. The micro stage with an embedded flexure hinge mechanism, actuated by the PZT actuator, can realize short range but high precision positioning. To gain precise performance, the modes of macro stage and micro stage are analyzed and can be equivalent as mass-damping-spring system in this research. According to theoretical analysis, the output displacement of micro stage is proportional to the extension of the PZT Actuator. The linear relationship will be used to the motion control of micro stage. To realize perfect performance, a variable gains PID controller is designed to control the macro stage. These gains, divided three parts, are the function of motion travel and positioning error. In order to prevent saturation and damage of PZT actuator, dual switching control, positioning error threshold and small vibration displacement, are applied to the switching control. That is, the sum of the error generated by macro stage and the vibration displacement is less than the motion range of micro stage. The macro controller is designed to stabilize VCM and macro stage without micro actuator, as if we just design a single actuator in the control system. Beyond the micro stage range, the micro stage must be kept in its equilibrium position while the VCM instead reaches a long travel. The PZT actuator controllers compensate for position error after switching control. The macro stage is commanded to follow the reference signal. When the error is less than a set threshold value, the error signal is added into the micro control loop and the setpoint of micro stage equals the error signal generated by macro stage. So the macro-micro dual-drive stages are working together to reduce the positioning error. The relationship between PZT actuator of closed loop and input voltage is linear by theoretical analysis and experiment test. So the micro stage uses open servo loop structure, but the PZT actuator is controlled with PI controller in local closed loop in order to eliminate the nonlinear of PZT. The experimental system used in this study is single-axis VCM-PZT actuator dual-driving stages. The PMAC, Turbo PMAC PCI-Lite, is the core of the whole system and executes PLC programs with motion programs. The PMAC output voltage(±10V) is set to Elmo Harmonica Driver and then the VCM will pull the macro stage. After satisfying the switching threshold, the second channel of motion control card will create the output voltage to PZT actuator according to the positioning error and the setting linear relationship. Experiments show that the steady state error of dual-drive stage is less than 20 nm. The steady state error of dual-drive stage can be improved. And dual-drive stage can increase the positioning accuracy of the whole system and improve the performance of the system. As a result, the control performance of macro-micro stages is superior to the single VCM stage..

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