Control additions for non-linear piezo motors

摘要

Over the last years, the machine building industry has been paying more and more attention to linear direct drives. More recently the use of piezo motors is a development in the direct drive field that has special features. The use of resonant piezo motors is discussed and it is shown that the non linear aspects of this type of drive poses problems when used as a positioning servo. It is shown that adding a dead-zone compensation and velocity dependent integrator gain scheduling yields better settling results.