Real-Time Parallel Control of Connected Piezoelectric Actuators by Using FEM

Abstract

In this paper, the Finite Element Method(FEM)is proposed for application to a real-time parallel control system of connected piezoelectric actuators, assuming an actuator as finite elements, wich are mainly used in the field of computational mechanics. The conventional control system requires change of state equations depending on the shape of a system or the quanTITY of the linked members. On the other hand, the FEM is capable of expressing the behaviors of each discrete element, as well as the whole continuous system, by evaluating the stiffness equations. It also can cope flexibly with lack or disability of constituent members of the system by controlling stiffness matrices. An inverse theory to calculate the required electric potential for obtaining target displacements is applied to the control algorithm of connected actuators. A noncompatible finite element, which allows the in-plane bending mode by using a fewer number of elements, is used in the FEM control program to enable real-time control. As a result, the possibility of controlling piezoelectric actuators by the newly proposed methodology has been confirmed.