Abstract
This paper presents an analysis and experimental study on clamp-shear coupling of a walking piezo actuators (WPA) during foot-switching. It is observed that the foot-switching introduces disturbances to the translator which causes undesired dynamic responses and this is indeed the primary factor that deteriorates motion precision. To address this issue, iterative learning control (ILC) carried out in stationary condition is applied to pre-compensate the driving waveform of WPA. An inverse PI hysteresis model is applied to mitigate the influence of hysteresis on control effectiveness at different actuator speeds. The proposed method offers simplified implementation and easier convergence compared to ILC carried out in walking condition. It also achieves consistent compensation effects across various operating frequencies. Experimental results show that the proposed method reduces peak to peak value of position error by 97 % comparing with the no compensation scenario, and 51 % with an operating frequency of 100 Hz comparing with ILC carried out in walking condition proposed in literature.
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