Neural Control for Two-Axial Micro Piezoelectric Actuators
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- Ohka Masahiro
- Nagoya University, Graduate School of Information Science
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- Sawamoto Yasuhiro
- Nagoya University, Graduate School of Information Science
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- Matsukawa Shiho
- Olympus Corporation
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- Miyaoka Tetsu
- Shizuoka Institute of Science and Technology, Faculty of Science and Technology
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- Mitsuya Yasunaga
- Nagoya University, Graduate School of Engineering
Bibliographic Information
- Other Title
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- 二軸マイクロ・ピエゾアクチュエータのニューラル制御
- 2ジク マイクロ ピエゾ アクチュエータ ノ ニューラル セイギョ
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Abstract
In the previous paper, we experimentally designed serial and parallel typed two-axial micro actuators, which were utilized for key parts of advanced tactile displays. The serial typed two-axial actuator comprises bimorph piezoelectric actuators connected in series. The parallel typed two-axial actuator was composed of two bimorph piezoelectric actuators and two small links connected by three joints. We formulated kinematics for the parallel typed two-axial actuator because the endpoint is controlled in the two-dimensional coordinate. Since relationship between applied voltage and displacement caused by the voltage shows a hysteresis loop in the bimorph piezoelectric actuator used as components of the two-axis actuators, we produce a control system for these two-axial actuators based on a multi-layered artificial neural network to compensate the hysteresis. The neural network is comprised of 4 neurons in the input layer, 10 neurons in the hidden layer and one neuron in the output layer. The output neuron emitts time derivative of voltage; two bits signal expressing loading or unloading condition is generated by two input neurons; one of the other two input neurons and the other calculate current values of voltage and displacement, respectively. The neural network is featured with a feedback loop including an integral unit to reduce number of neurons. In the learning process, the network learns the hysteresis including a minor loop. In the verification test, the endpoint of the two-axial actuator traces the desired circular trajectory in the two-dimensional coordinate system.
Journal
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- IEEJ Transactions on Sensors and Micromachines
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IEEJ Transactions on Sensors and Micromachines 127 (12), 533-539, 2007
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679437810176
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- NII Article ID
- 10019977693
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- NII Book ID
- AN1052634X
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- ISSN
- 13475525
- 13418939
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- NDL BIB ID
- 9288296
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed