Commutation angle iterative learning control: enhancing piezo-stepper actuator waveforms

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Abstract

Piezo-stepper actuators consist of piezo elements that are able to displace a mover over an infinite stroke through walking while maintaining the high accuracy and high stiffness properties of the piezo elements. The aim of this paper is to mitigate repetitive disturbances, that are introduced by the walking behaviour, to improve the performance of piezo-stepper actuators. The key challenge is to address repeating disturbances in the position domain, which may be varying in the time domain. A new position-domain iterative learning control procedure is presented that computes a signal in the commutation angle domain that mitigates the repetitive disturbances. The results from this procedure are exploited to determine an optimal waveform for the working range of the actuator. A significant improvement in performance is achieved after applying this waveform to a piezo-stepper actuator.

Original languageEnglish
Title of host publicationPreprints Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019)
Pages1451-1456
Number of pages6
Publication statusPublished - 4 Sep 2019
Event8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019) Vienna, Austria - Vienna, Austria
Duration: 4 Sep 20196 Sep 2019
http://www.mechatronicsnolcos2019.org/

Conference

Conference8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019) Vienna, Austria
CountryAustria
CityVienna
Period4/09/196/09/19
Internet address

Keywords

  • Actuating signal
  • Learning control
  • Piezo actuators

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  • Cite this

    Strijbosch, N., Tacx, P. J. M. M., Verschueren, E., & Oomen, T. A. E. (2019). Commutation angle iterative learning control: enhancing piezo-stepper actuator waveforms. In Preprints Joint Conference 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS 2019), and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019) (pp. 1451-1456)