Controlling Research For Piezoelectric Ceramic Ceramic Drive Of The Micro-positioning Platform Based On Type3-RRR

In recent years, people paid more and more attention to the use and the development of the parallel mechanism, it has a very wide range of applications in different fields, The main reasons as follows,the overall stiffness is relatively large, the bearing capacity of the actuator is very strong, the operation is relatively simple,etc.But at the same time,because it is a multiple input and multiple output, there are serious nonlinear、strong coupling system.To a large degree, they influence the more wide application of the parallel robot.This article mainly researches the3RRR type high precision micro piezoelectric ceramics driver control platform.First of all, this paper introduces the widely used of the parallel robot and illustrates the main problems and the status etc.Secondly,this paper introduces the basic knowledge of planar parallel mechanism kinematics analysis and micro kinematics analyses.And then, this paper expounds the classification of micro displacement actuator, the development of micro platform, the development of piezoelectric ceramic micro hysteresis, creep and displacement of the nonlinear characteristics respectively. Then details the micro platform hardware and building.At last,It is the design of the control method and the analysis of the experimental results. the design of the control method and experimental analysis is the core of this thesis.The control method of the paper is the PID closed-loop control, in addition, on the basis of PID control method was improved, another kind of control method was designed,namely the fuzzy self-tuning PID control.All the control method is based on the NI Labview platform. This paper has worked out the two degree of freedom and three degrees of freedom precision positioning platformtwo control program, in the laboratory,it can be choosed according to the actual situation of piezoelectric ceramic.