Piezo-stepper actuators are used in many nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of this paper is to develop a control approach for attenuating disturbances that are caused by the walking motion and are therefore repeating in the commutation-angle domain. A new iterative learning control approach is developed for the commutation-angle domain, that addresses the iteration-varying and non-equidistant sampling that occurs when the piezo-stepper actuator is driven at varying drive frequencies by parameterizing the input and error signals. Experimental validation of the framework on a piezo-stepper actuator leads to significant performance improvements.
Commutation-angle iterative learning control for intermittent data: Enhancing piezo-stepper actuator waveforms
2020-01-01
Aarnoudse , L I M , Strijbosch , N W A , Verschueren , E R M & Oomen , T A E 2020 , ' Commutation-angle iterative learning control for intermittent data: Enhancing piezo-stepper actuator waveforms ' , IFAC-PapersOnLine , vol. 53 , no. 2 , pp. 8585-8590 . https://doi.org/10.1016/j.ifacol.2020.12.530
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Commutation angle iterative learning control:enhancing piezo-stepper actuator waveforms
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