book

Modeling and Control of Precision Actuators

by Tan Kok Tan Kok Kiong, Huang Sunan

October 2018

Intermediate to advanced

270 pages

6h 47m

English

CRC Press

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Cover
Half Title
Title Page
Copyright Page
Table of Contents
Preface
Acknowledgments
About the Authors
1. Introduction
1.1 Growing Interest in Precise Actuators1.2 Types of Precise Actuators1.2.1 Piezoelectric Actuator1.2.1.1 Stack Actuator1.2.1.2 Piezoelectric Shear Actuator1.2.1.3 Piezoelectric Bending Actuator1.2.2 Linear Motor1.2.2.1 Permanent Magnet Linear Motor1.2.2.2 Linear Piezo Stage1.2.2.3 Linear Air Bearing Stage1.3 Applications of Precise ActuatorsReferences
2. Nonlinear Dynamics and Modeling
2.1 Hysteresis2.2 Creep2.3 Friction2.4 Force RipplesReferences

3. Identification and Compensation of Preisach Hysteresis in Piezoelectric Actuators
3.1 SVD-Based Identification and Compensation of Preisach Hysteresis3.1.1 Parameter Identification of Preisach Hysteresis3.1.1.1 Least-Squares Estimation by SVD3.1.1.2 Identification Revision Using SVD Updating3.1.1.3 Simulation Study of Proposed Identification Approach3.1.2 Compensation Strategy of Preisach Hysteresis3.1.2.1 Preisach-Based Inversion Compensation3.1.2.2 Proposed Composite Control Strategy3.1.2.3 Simulation Study of Proposed Compensation Strategy3.1.3 Experimental Studies3.1.3.1 Experimental Setup3.1.3.2 Hysteresis Identification at Low Frequencies3.1.3.3 Performance of Proposed Composite Controller at Low Frequencies3.1.3.4 Performance of Proposed Composite Controller at Higher Frequencies3.1.4 Discussions3.2 High-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric Actuators3.2.1 Proposed Model Identification Strategy3.2.1.1 Model of PA Systems3.2.1.2 Identification of Quasi-Static Hysteresis3.2.2 Proposed Composite Controller3.2.2.1 Analysis of Feedforward and Feedback Controllers at High Frequencies3.2.2.2 Design of Feedforward Controller3.2.2.3 Design of Feedback Controller3.2.3 Experimental Studies3.2.3.1 Identification of Quasi-Static Hysteresis3.2.3.2 Drift Suppression3.2.3.3 Preisach Hysteresis Identification3.2.3.4 Identification of Nonhysteresic Dynamics3.2.3.5 Controller Design3.2.3.6 Performance Evaluation3.2.4 Discussions 3.3 Concluding RemarksReferences
4. Identification and Compensation of Friction and Ripple Force
4.1 Relay Feedback Techniques for Precision Motion Control4.2 Identification and Compensation of Friction Model4.2.1 System Model 4.2.2 DCR Feedback System4.2.3 Friction Modeling Using DCR Feedback4.2.3.1 Low-Velocity Mode: Static Friction Identification4.2.3.2 High-Velocity Mode: Coulomb and Viscous Friction Identification4.2.3.3 Estimating the Boundary Lubrication Velocity by Optimization4.2.4 Simulation4.2.4.1 Limit Cycle Variation with Relay Gains4.2.4.2 Phase 1: Low-Velocity Mode4.2.4.3 Phase 2: High-Velocity Mode4.2.4.4 Estimation of δ via Optimization4.2.5 Real-Time Experiments4.3 Modeling and Compensation of Ripples and Friction in Permanent Magnet Linear Motors4.3.1 Overall PMLM Model4.3.2 Model Identification4.3.2.1 Dual-Input Describing Function (DIDF) for Nonlinear Portion of PMLM Model4.3.2.2 Parameter Estimation from Harmonic Balance4.3.2.3 Extraction of Frequency Components from DFT4.3.3 Simulation4.3.4 Real-Time Experiments4.3.4.1 Identification of the Spatial Cogging Frequency4.3.4.2 Parameter Estimation4.3.4.3 Model CompensationReferences
5. Model Predictive Control of Precise Actuators
5.1 Model Predictive Control Concepts for Motion Tracking5.1.1 Prediction and Optimization5.1.2 Offset-Free and Robust MPC5.1.2.1 Offset-Free Tracking5.1.2.2 Robust Formulation5.2 Hybrid MPC for Ultrasonic Motors5.2.1 Piecewise Affine Model of Motion5.2.2 Model Predictive Control for PWA Model5.2.2.1 Terminal Gain5.2.2.2 Terminal Cost5.2.2.3 Terminal Set5.3 From Parametric MPC to PID Gain Scheduling Controllers5.4 Simulation Study and Experiment Results5.4.1 Simulation Studies5.4.2 Experiment5.5 Concluding RemarksReferences
6. Modeling and Control of Air Bearing Stages.
6.1 Problem Statements 6.2 Control of Linear Air Bearing Stage6.3 Controller Design for the System6.4 Experimental Results6.5 Control of Spherical Air Bearing Stage 6.5.1 Mechanical Structure 6.5.1.1 Voice Coil Actuators6.5.1.2 Pneumatic System6.5.2 Control System 6.5.2.1 Hardware of Control System 6.5.2.2 Modeling of Air Bearing Stage6.5.2.3 Parameter Identification6.5.2.4 Noise Filter6.5.2.5 Model-Based Controller Design6.6 Performance Analysis of Spherical Air Bearing System6.6.1 Model Identification6.6.2 Noise Filter6.6.3 Control Results 6.7 Concluding RemarksReferences
7. Fault Detection and Accommodation in Actuators
7.1 Problem Statements 7.2 Types of Failure 7.2.1 Examples of Actuator Failure 7.2.2 Sensor Failure 7.3 Fault Diagnosis Scheme 7.3.1 Fault Detection 7.3.2 Fault Isolation 7.3.3 Fault Identification7.4 Control of the System under No-Fault Condition 7.5 Accommodation Control after Fault Detection 7.6 Extension to Output Feedback Control Design7.6.1 Fault Diagnosis Scheme 7.6.1.1 Fault Detection7.6.1.2 Fault Isolation7.6.2 Robust Control for the System under No-Fault Condition 7.6.3 Accommodation Control after Fault Detection7.7 Experimental Tests 7.8 Concluding RemarksReferences
8. Case Studies of Precise Actuator Applications
8.1 Robust Adaptive Control of Piezoelectric Actuators with an Application to Intracytoplasmic Sperm Injection8.1.1 Modeling of the Piezoelectric Actuator8.1.2 Robust Adaptive Control8.1.3 Experimental Results8.1.4 Biomedical Application8.1.4.1 Instruments8.1.4.2 The Structure of Oocytes8.1.4.3 ICSI Process8.1.4.4 Results8.2 Control of a 2-DOF Ultrasonic Piezomotor Stage for Grommet Insertion8.2.1 Background8.2.1.1 Control Objectives8.2.2 System Modeling8.2.2.1 Model of Single-Axis USM Stage8.2.2.2 Model of 2-DOF USM Stage8.2.2.3 Parameter Estimation8.2.3 Controller Design8.2.3.1 LQR-Assisted PID Control8.2.3.2 Nonlinear Compensation8.2.3.3 Control of 2-DOF USM Stage8.2.4 Experimental Results8.3 Vision-Based Tracking and Thermal Monitoring of Nonstationary Targets8.3.1 Computer Imaging Technologies8.3.2 Decoupled Tracking and Thermal Monitoring8.3.2.1 Overall System Configuration8.3.2.2 Vision and Image Processing System8.3.2.3 Noncontact Temperature Measurement System8.3.2.4 Tracking Control of Linear Motor8.3.2.5 Practical Issues8.3.2.6 Experimental ResultsReferences
Index

Content preview from Modeling and Control of Precision Actuators

Acknowledgments

The first author is thankful to his PhD students for their research leading to the contents of the book. They include Liu Lei, Chen Silu, Nguyen Hoang Tuan Minh, Liang Wenyu, and Zhang Yi.

The authors thank Dr. Teo Chek Sing and Tan Chee Siong for their assistance in the writing of the book. They also thank the National University of Singapore and Singapore Institute of Manufacturing Technology for their funding support. The editing process would not have been as smooth without the generous assistance of Laurie Schlags, Robin Lloyd-Starkes and Li Ming Leong.

Finally, the authors thank their families for their love and support.

Tan Kok Kiong

Huang Sunan

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Modeling and Control of Precision Actuators

by Tan Kok Tan Kok Kiong, Huang Sunan

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