Akademik Veri Yönetim Sistemi
Tezin Türü: Yüksek Lisans
Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Türkiye
Tezin Onay Tarihi: 2013
Tezin Dili: İngilizce
Öğrenci: Gökhan Yaşar
Eş Danışman: RAİF TUNA BALKAN, YAVUZ YAMAN
Özet:Mechanical amplification is achieved using a multi-flexure-hinge based compliant mechanism, due to limited displacement range of piezoactuator. In the design stage of mechanism, a comparison matrix analysis is performed to decide the best alternative among the possible compliant mechanism candidates. The mechanical design parameters of the displacement amplifier is determined optimally using the analytical equation derived using Pseudo Rigid Body Model, and the static analysis is performed using finite element method to validate the analytical findings. The control system is implemented both to compensate the hysteresis effect and procure precise positioning. In this manner, a model based feedforward model (Bouc-Wen Model) is used as hysteresis compensation and a Proportional Integral (PI) control is used to minimize the error between the desired and actual position. In addition, Zero Phase Error Tracking Control (ZPETC) is added to the system to track the reference input more precisely. The overall mechanism is manufactured using Electro Discharge Machining (EDM) to be used in experiments. The control system is empirically realized and results such as sinusoidal and step responses are evaluated in time domain for each controller separately. All the findings including amplification ratio and controller performance of each control algorithm are validated and evaluated using experimental setup with proper instrumentation.