Modeling and Control of Precision Actuators

Book description

Modeling and Control of Precision Actuators explores new technologies that can ultimately be applied in a myriad of industries. It covers dynamical analysis of precise actuators and strategies of design for various control applications. The book addresses four main schemes: modeling and control of precise actuators; nonlinear control of precise actuators, including sliding mode control and neural network feedback control; fault detection and fault-tolerant control; and advanced air bearing control. It covers application issues in the modeling and control of precise actuators, providing several interesting case studies for more application-oriented readers.

  • Introduces the driving forces behind precise actuators
  • Describes nonlinear dynamics of precise actuators and their mathematical forms, including hysteresis, creep, friction, and force ripples
  • Presents the control strategies for precise actuators based on Preisach model as well as creep dynamics
  • Develops relay feedback techniques for identifying nonlinearities such as friction and force ripples
  • Discusses a MPC approach based on piecewise affine models which emulate the frictional effects in the precise actuator
  • Covers the concepts of air bearing stages with the corresponding control method
  • Provides a set of schemes suitable for fault detection and accommodation control of mechanical systems

Emphasizing design theory and control strategies, the book includes simulation and practical examples for each chapter; covers precise actuators such as piezo motors, coil motors, air bearing motors, and linear motors; discusses integration among different technologies; and includes three case studies in real projects. The book concludes by linking design methods and their applications, emphasizing the key issues involved and how to implement the precision motion control tasks in a practical system. It provides a concise and comprehensive source of the state-of-the-art developments and results for modeling and control of precise actuators.

Table of contents

  1. Cover
  2. Half Title
  3. Title Page
  4. Copyright Page
  5. Table of Contents
  6. Preface
  7. Acknowledgments
  8. About the Authors
  9. 1. Introduction
    1. 1.1 Growing Interest in Precise Actuators
    2. 1.2 Types of Precise Actuators
      1. 1.2.1 Piezoelectric Actuator
        1. 1.2.1.1 Stack Actuator
        2. 1.2.1.2 Piezoelectric Shear Actuator
        3. 1.2.1.3 Piezoelectric Bending Actuator
      2. 1.2.2 Linear Motor
        1. 1.2.2.1 Permanent Magnet Linear Motor
        2. 1.2.2.2 Linear Piezo Stage
        3. 1.2.2.3 Linear Air Bearing Stage
    3. 1.3 Applications of Precise Actuators
    4. References
  10. 2. Nonlinear Dynamics and Modeling
    1. 2.1 Hysteresis
    2. 2.2 Creep
    3. 2.3 Friction
    4. 2.4 Force Ripples
    5. References
  11. 3. Identification and Compensation of Preisach Hysteresis in Piezoelectric Actuators
    1. 3.1 SVD-Based Identification and Compensation of Preisach Hysteresis
      1. 3.1.1 Parameter Identification of Preisach Hysteresis
        1. 3.1.1.1 Least-Squares Estimation by SVD
        2. 3.1.1.2 Identification Revision Using SVD Updating
        3. 3.1.1.3 Simulation Study of Proposed Identification Approach
      2. 3.1.2 Compensation Strategy of Preisach Hysteresis
        1. 3.1.2.1 Preisach-Based Inversion Compensation
        2. 3.1.2.2 Proposed Composite Control Strategy
        3. 3.1.2.3 Simulation Study of Proposed Compensation Strategy
      3. 3.1.3 Experimental Studies
        1. 3.1.3.1 Experimental Setup
        2. 3.1.3.2 Hysteresis Identification at Low Frequencies
        3. 3.1.3.3 Performance of Proposed Composite Controller at Low Frequencies
        4. 3.1.3.4 Performance of Proposed Composite Controller at Higher Frequencies
      4. 3.1.4 Discussions
    2. 3.2 High-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric Actuators
      1. 3.2.1 Proposed Model Identification Strategy
        1. 3.2.1.1 Model of PA Systems
        2. 3.2.1.2 Identification of Quasi-Static Hysteresis
      2. 3.2.2 Proposed Composite Controller
        1. 3.2.2.1 Analysis of Feedforward and Feedback Controllers at High Frequencies
        2. 3.2.2.2 Design of Feedforward Controller
        3. 3.2.2.3 Design of Feedback Controller
      3. 3.2.3 Experimental Studies
        1. 3.2.3.1 Identification of Quasi-Static Hysteresis
        2. 3.2.3.2 Drift Suppression
        3. 3.2.3.3 Preisach Hysteresis Identification
        4. 3.2.3.4 Identification of Nonhysteresic Dynamics
        5. 3.2.3.5 Controller Design
        6. 3.2.3.6 Performance Evaluation
      4. 3.2.4 Discussions
    3. 3.3 Concluding Remarks
    4. References
  12. 4. Identification and Compensation of Friction and Ripple Force
    1. 4.1 Relay Feedback Techniques for Precision Motion Control
    2. 4.2 Identification and Compensation of Friction Model
      1. 4.2.1 System Model
      2. 4.2.2 DCR Feedback System
      3. 4.2.3 Friction Modeling Using DCR Feedback
        1. 4.2.3.1 Low-Velocity Mode: Static Friction Identification
        2. 4.2.3.2 High-Velocity Mode: Coulomb and Viscous Friction Identification
        3. 4.2.3.3 Estimating the Boundary Lubrication Velocity by Optimization
      4. 4.2.4 Simulation
        1. 4.2.4.1 Limit Cycle Variation with Relay Gains
        2. 4.2.4.2 Phase 1: Low-Velocity Mode
        3. 4.2.4.3 Phase 2: High-Velocity Mode
        4. 4.2.4.4 Estimation of δ via Optimization
      5. 4.2.5 Real-Time Experiments
    3. 4.3 Modeling and Compensation of Ripples and Friction in Permanent Magnet Linear Motors
      1. 4.3.1 Overall PMLM Model
      2. 4.3.2 Model Identification
        1. 4.3.2.1 Dual-Input Describing Function (DIDF) for Nonlinear Portion of PMLM Model
        2. 4.3.2.2 Parameter Estimation from Harmonic Balance
        3. 4.3.2.3 Extraction of Frequency Components from DFT
      3. 4.3.3 Simulation
      4. 4.3.4 Real-Time Experiments
        1. 4.3.4.1 Identification of the Spatial Cogging Frequency
        2. 4.3.4.2 Parameter Estimation
        3. 4.3.4.3 Model Compensation
    4. References
  13. 5. Model Predictive Control of Precise Actuators
    1. 5.1 Model Predictive Control Concepts for Motion Tracking
      1. 5.1.1 Prediction and Optimization
      2. 5.1.2 Offset-Free and Robust MPC
        1. 5.1.2.1 Offset-Free Tracking
        2. 5.1.2.2 Robust Formulation
    2. 5.2 Hybrid MPC for Ultrasonic Motors
      1. 5.2.1 Piecewise Affine Model of Motion
      2. 5.2.2 Model Predictive Control for PWA Model
        1. 5.2.2.1 Terminal Gain
        2. 5.2.2.2 Terminal Cost
        3. 5.2.2.3 Terminal Set
    3. 5.3 From Parametric MPC to PID Gain Scheduling Controllers
    4. 5.4 Simulation Study and Experiment Results
      1. 5.4.1 Simulation Studies
      2. 5.4.2 Experiment
    5. 5.5 Concluding Remarks
    6. References
  14. 6. Modeling and Control of Air Bearing Stages.
    1. 6.1 Problem Statements
    2. 6.2 Control of Linear Air Bearing Stage
    3. 6.3 Controller Design for the System
    4. 6.4 Experimental Results
    5. 6.5 Control of Spherical Air Bearing Stage
      1. 6.5.1 Mechanical Structure
        1. 6.5.1.1 Voice Coil Actuators
        2. 6.5.1.2 Pneumatic System
      2. 6.5.2 Control System
        1. 6.5.2.1 Hardware of Control System
        2. 6.5.2.2 Modeling of Air Bearing Stage
        3. 6.5.2.3 Parameter Identification
        4. 6.5.2.4 Noise Filter
        5. 6.5.2.5 Model-Based Controller Design
    6. 6.6 Performance Analysis of Spherical Air Bearing System
      1. 6.6.1 Model Identification
      2. 6.6.2 Noise Filter
      3. 6.6.3 Control Results
    7. 6.7 Concluding Remarks
    8. References
  15. 7. Fault Detection and Accommodation in Actuators
    1. 7.1 Problem Statements
    2. 7.2 Types of Failure
      1. 7.2.1 Examples of Actuator Failure
      2. 7.2.2 Sensor Failure
    3. 7.3 Fault Diagnosis Scheme
      1. 7.3.1 Fault Detection
      2. 7.3.2 Fault Isolation
      3. 7.3.3 Fault Identification
    4. 7.4 Control of the System under No-Fault Condition
    5. 7.5 Accommodation Control after Fault Detection
    6. 7.6 Extension to Output Feedback Control Design
      1. 7.6.1 Fault Diagnosis Scheme
        1. 7.6.1.1 Fault Detection
        2. 7.6.1.2 Fault Isolation
    7. 7.6.2 Robust Control for the System under No-Fault Condition
    8. 7.6.3 Accommodation Control after Fault Detection
    9. 7.7 Experimental Tests
    10. 7.8 Concluding Remarks
    11. References
  16. 8. Case Studies of Precise Actuator Applications
    1. 8.1 Robust Adaptive Control of Piezoelectric Actuators with an Application to Intracytoplasmic Sperm Injection
      1. 8.1.1 Modeling of the Piezoelectric Actuator
      2. 8.1.2 Robust Adaptive Control
      3. 8.1.3 Experimental Results
      4. 8.1.4 Biomedical Application
        1. 8.1.4.1 Instruments
        2. 8.1.4.2 The Structure of Oocytes
        3. 8.1.4.3 ICSI Process
        4. 8.1.4.4 Results
    2. 8.2 Control of a 2-DOF Ultrasonic Piezomotor Stage for Grommet Insertion
      1. 8.2.1 Background
        1. 8.2.1.1 Control Objectives
      2. 8.2.2 System Modeling
        1. 8.2.2.1 Model of Single-Axis USM Stage
        2. 8.2.2.2 Model of 2-DOF USM Stage
        3. 8.2.2.3 Parameter Estimation
      3. 8.2.3 Controller Design
        1. 8.2.3.1 LQR-Assisted PID Control
        2. 8.2.3.2 Nonlinear Compensation
        3. 8.2.3.3 Control of 2-DOF USM Stage
      4. 8.2.4 Experimental Results
    3. 8.3 Vision-Based Tracking and Thermal Monitoring of Nonstationary Targets
      1. 8.3.1 Computer Imaging Technologies
      2. 8.3.2 Decoupled Tracking and Thermal Monitoring
        1. 8.3.2.1 Overall System Configuration
        2. 8.3.2.2 Vision and Image Processing System
        3. 8.3.2.3 Noncontact Temperature Measurement System
        4. 8.3.2.4 Tracking Control of Linear Motor
        5. 8.3.2.5 Practical Issues
        6. 8.3.2.6 Experimental Results
    4. References
  17. Index

Product information

  • Title: Modeling and Control of Precision Actuators
  • Author(s): Tan Kok Tan Kok Kiong, Huang Sunan
  • Release date: October 2018
  • Publisher(s): CRC Press
  • ISBN: 9781351832168