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

Nard Strijbosch; P.J.M.M. Tacx; Edwin R.M. Verschueren; Tom A.E. Oomen

doi:10.1016/j.ifacol.2019.11.738

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

Nard Strijbosch (Corresponding author)
, P.J.M.M. Tacx (Corresponding author)
, Edwin R.M. Verschueren (Corresponding author)
, Tom A.E. Oomen (Corresponding author)

Research output: Contribution to journal › Conference article › peer-review

5 Citations (Scopus)

132 Downloads (Pure)

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 language	English
Pages (from-to)	579-584
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	52
Issue number	15
DOIs	https://doi.org/10.1016/j.ifacol.2019.11.738
Publication status	Published - Sept 2019
Event	8th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2019 - Vienna, Austria Duration: 4 Sept 2019 → 6 Sept 2019

Keywords

Actuating signal
Learning control
Piezo actuators
Learning Control
Actuating Signal
Piezo Actuators

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10.1016/j.ifacol.2019.11.738

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title = "Commutation angle iterative learning control: enhancing piezo-stepper actuator waveforms",

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.",

keywords = "Actuating signal, Learning control, Piezo actuators, Learning Control, Actuating Signal, Piezo Actuators",

author = "Nard Strijbosch and P.J.M.M. Tacx and Verschueren, \{Edwin R.M.\} and Oomen, \{Tom A.E.\}",

year = "2019",

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doi = "10.1016/j.ifacol.2019.11.738",

language = "English",

volume = "52",

pages = "579--584",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

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number = "15",

note = "8th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2019 ; Conference date: 04-09-2019 Through 06-09-2019",

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T2 - 8th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2019

AU - Strijbosch, Nard

AU - Tacx, P.J.M.M.

AU - Verschueren, Edwin R.M.

AU - Oomen, Tom A.E.

PY - 2019/9

Y1 - 2019/9

N2 - 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.

AB - 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.

KW - Actuating signal

KW - Learning control

KW - Piezo actuators

KW - Learning Control

KW - Actuating Signal

KW - Piezo Actuators

UR - https://www.scopus.com/pages/publications/85077499350

U2 - 10.1016/j.ifacol.2019.11.738

DO - 10.1016/j.ifacol.2019.11.738

M3 - Conference article

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JF - IFAC-PapersOnLine

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ER -

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

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Keywords

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