Piezo LEGS driving principle based on coordinate transformation

Uzunovic, Tarik and Golubovic, Edin and Şabanoviç, Asif (2014) Piezo LEGS driving principle based on coordinate transformation. IEEE/ASME Transactions on Mechatronics . pp. 1-11. ISSN 1083-4435 Published Online First http://dx.doi.org/10.1109/TMECH.2014.2351272

[thumbnail of Piezo_LEGS_Driving_Principle_Based_on_Coordinate_Transformation.pdf] PDF
Restricted to Repository staff only

Download (944kB) | Request a copy


This paper offers a new approach for specifying the waveforms of driving voltages for a Piezo LEGS motor. A novel idea of coordinate transformation to define the waveforms of driving voltages, based on the motor static model, is presented. This transformation defines driving voltages according to the desired motion of the motor legs in the x- and y-directions. The approach allows a user to first define force acting on the motor rod in the y-direction and define the rod's x-direction trajectory profile. Waveforms of the driving voltages are subsequently defined to meet these requirements. The proposed approach also enables the possibility of defining the desired step shape for the motor and, according to that definition, producing driving voltages. Based on the given coordinate transformation, a simple method for Piezo LEGS motor control, identified as virtual time control, is presented. This method results in overshoot-free high precision positioning.
Item Type: Article
Uncontrolled Keywords: Coordinate transformation, Piezo LEGS motor, piezoelectric actuator, virtual time controller, waveform definition
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-4661 Electrical engineering. Electronics Nuclear engineering
T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
T Technology > T Technology (General) > T174.7 Nanotechnology
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Tarik Uzunovic
Date Deposited: 15 Dec 2014 16:31
Last Modified: 03 Sep 2019 11:02
URI: https://research.sabanciuniv.edu/id/eprint/24737

Actions (login required)

View Item
View Item