Proceedings of the
9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)
15 – 18 November 2022, Singapore

Simulation of XYθ-Axes Servo Control for One Step Motion of Piezoelectric Walking Mechanism Step Motion of Piezoelectric Walking Mechanism

Eiji Kusui1, Masato Shiota1, Ryosuke Kinoshita1, Rintaro Minegishi1, Eri Fukuchi1, Yohei Tsukui1, Yuta Sunohara1 and Ohmi Fuchiwaki1,a

1Department of Mechanical Engineering, Yokohama National University, 79-1 Tokiwadai Hodogaya-ku, Yokohama, Kanagawa, Japan


In this paper, we describe an one step motion's control of piezoelectric walking mechanism. The mechanism walks alternating fixing of two legs to the floor. When one leg is attached to the surface, and the other slides according to displacements of piezoelectric actuators (PAs). We have firstly tried BangBang control, however non-negligible residual deviation remained. Then, we have conducted PID control to eliminate the residual deviations, however the settling time became longer than 70ms, which is 7 times larger of required value of 10ms. In this paper, we report the simulation of switching control of PID control and BangBang control to reduce both the settling time and the residual deviation, in which PID control worked for fine position adjustment after rough positioning of BangBang control. We confirmed that the objectives were achieved in the simulations. We concluded that the proposed control method is feasible for the precise and fast positioning for flexible manipulation.

Keywords: Piezoelectric actuator, Precise positioning, BangBang control, PID control, walking robot

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