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Title: Control of a 2-DOF ultrasonic piezomotor stage for grommet insertion
Authors: Liang, W.
Tan, K.K. 
Huang, S. 
Pham, L.P.
Lim, H.Y.
Gan, C.W.
Keywords: Grommet insertion
Multi-DOF control
Nonlinear compensation
PID controller
Ultrasonic piezomotor
Issue Date: Dec-2013
Citation: Liang, W., Tan, K.K., Huang, S., Pham, L.P., Lim, H.Y., Gan, C.W. (2013-12). Control of a 2-DOF ultrasonic piezomotor stage for grommet insertion. Mechatronics 23 (8) : 1005-1013. ScholarBank@NUS Repository.
Abstract: The treatment of a common disease called "Otitis Media with Effusion (OME)" involves the surgeon inserting a grommet in the eardrum to bypass the Eustachian tube for draining fluid when medication fails. In this paper, a novel device for myringotomy and grommet insertion is first designed and introduced. Due to the advantages of high precision and fast response, a 2-DOF ultrasonic piezomotor (USM) stage is chosen to provide the motion sequences of the device, especially a precise path tracking during the grommet insertion. This paper briefly presents the mechanical design of the device and the configuration and control of the 2-DOF USM stage. The model of the USM consisting of a linear and nonlinear term is built. A PID controller is used as the main controller and tuned with the help of LQR technique. Since there are nonlinear dynamics caused by friction and hysteresis existing in the system, a nonlinear compensation including a sign function and sliding mode control is designed to reject the nonlinearity. Moreover, a decoupling controller is designed to eliminate the coupling effects between the two USM stages. The experimental results show that the LQR-assisted PID controller with compensation can achieve very good system performance and the decoupling controller can further improve the performance. © 2013 Elsevier Ltd. All rights reserved.
Source Title: Mechatronics
ISSN: 09574158
DOI: 10.1016/j.mechatronics.2013.07.009
Appears in Collections:Staff Publications

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