Lithographical bending control method for a piezoelectric actuator

2009 ◽  
Vol 1 (1) ◽  
pp. 37-42 ◽  
Author(s):  
Tamio Ikehashi ◽  
Etsuji Ogawa ◽  
Hiroaki Yamazaki ◽  
Tatsuya Ohguro
Keyword(s):  
Theoretical Model ◽  
Piezoelectric Material ◽  
Piezoelectric Actuator ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Bridge Structure ◽  
Theoretical Formulation ◽  
Curvature Measurement ◽  
Multilayered Beam

This paper presents the theoretical formulation of a lithographical bending control (LBC) method that uses lithographical degrees of freedom to control the bending of a multilayered beam. LBC is applied to a piezoelectric actuator that uses PZT as the piezoelectric material. The theoretical model is compared with measurements using a weakly fixed bridge structure suited for curvature measurement.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

scholarly journals Torque Ripple Suppression of PMSM Based on Robust Two Degrees-of-Freedom Resonant Controller

Energies ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 1015
Author(s):  
Mingfei Huang ◽  
Yongting Deng ◽  
Hongwen Li ◽  
Jing Liu ◽  
Meng Shao ◽  
...  
Keyword(s):  
Control Strategy ◽  
Measurement Errors ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Torque Ripple ◽  
Current Loop ◽  
Two Degrees Of Freedom ◽  
Robust Stability Analysis ◽  
Resonant Controller ◽  
Testing Environments

This paper concentrates on a robust resonant control strategy of a permanent magnet synchronous motor (PMSM) for electric drivers with model uncertainties and external disturbances to improve the control performance of the current loop. Firstly, to reduce the torque ripple of PMSM, the resonant controller with fractional order (FO) calculus is introduced. Then, a robust two degrees-of-freedom (Robust-TDOF) control strategy was designed based on the modified resonant controller. Finally, by combining the two control methods, this study proposes an enhanced Robust-TDOF regulation method, named as the robust two degrees-of-freedom resonant controller (Robust-TDOFR), to guarantee the robustness of model uncertainty and to further improve the performance with minimized periodic torque ripples. Meanwhile, a tuning method was constructed followed by stability and robust stability analysis. Furthermore, the proposed Robust-TDOFR control method was applied in the current loop of a PMSM to suppress the periodic current harmonics caused by non-ideal factors of inverter and current measurement errors. Finally, simulations and experiments were performed to validate our control strategy. The simulation and experimental results showed that the THDs (total harmonic distortion) of phase current decreased to a level of 0.69% and 5.79% in the two testing environments.

THE EVALUATION OF SURFACE MORPHOLOGY USING FLEXURE GUIDED NANO-POSITIONING SYSTEM AND ULTRA-PRECISION LATHE

2012 ◽  
Vol 06 ◽  
pp. 172-177
Author(s):  
Nam-Su Kwak ◽  
Jae-Yeol Kim
Keyword(s):  
Surface Morphology ◽  
Piezoelectric Actuator ◽  
Control Method ◽  
Positioning System ◽  
Motion Error ◽  
Precision Stage ◽  
Cnc Lathe ◽  
Single Crystal Diamond ◽  
Ultra Precision ◽  
And Control

In this study, piezoelectric actuator, Flexure guide, Power transmission element and control method and considered for Nano-positioning system apparatus. The main objectives of this thesis were to develop the 3-axis Ultra-precision stages which enable the 3-axis control by the manipulation of the piezoelectric actuator and to enhance the precision of the Ultra-Precision CNC lathe which is responsible for the ductile mode machining of the hardened-brittle material where the machining is based on the single crystal diamond. Ultra-precision CNC lathe is used for machining and motion error of the machine are compensated by using 3-axis Ultra-precision stage. Through the simulation and experiments on ultra-precision positioning, stability and priority on Nano-positioning system with 3-axis ultra-precision stage and control algorithm are secured by using NI Labview. And after applying the system, is to analyze the surface morphology of the mold steel (SKD61)

Compact Drive Electronics for Solid-State Actuators

2000 ◽  
Author(s):  
Jeffrey S. N. Paine ◽  
David S. Bennett ◽  
Carlos E. Cuadros
Keyword(s):  
Solid State ◽  
Power Electronics ◽  
Piezoelectric Material ◽  
Piezoelectric Actuator ◽  
Power Dissipation ◽  
Piezoelectric Materials ◽  
Piezoelectric Actuators ◽  
Linear Amplifier ◽  
Overall Efficiency ◽  
Electronics Packages

Abstract As piezoelectric actuators are developed for high strokes and/or high force applications, the amount of piezoelectric material used in the actuator must also increase. Reducing the size of drive electronics becomes difficult using traditional linear power electronics packages when applications require as much as 40 μF of piezoelectric load. In order to efficiently drive piezoelectric actuator systems, bi-directional systems (drivers that recover the energy put into the piezoelectric capacitor) must be used. Since less than 10% of the power going into the piezoelectric actuator is real versus the large reactive load used to power the piezoelectric materials, bidirectional systems have a much higher efficiency. A comparison is made between traditional linear and PWM amplifier systems and tailored piezoelectric bi-directional driver systems. Bi-directional systems have power dissipation levels up to 1/8th those of traditional linear amplifier systems. In the course of the research both linear and PWM concepts were investigated. A rationale for comparing the overall efficiency of drive electronics systems is presented. Some innovative efficient concepts for piezoelectric system drivers are presented and discussed.

Research on the thickness control method of workbench oil film based on theoretical model

2018 ◽  
Author(s):  
Tang Pei ◽  
Lin Lin ◽  
Ge Liu ◽  
Liping Yu ◽  
Zhen Xu ◽  
...  
Keyword(s):  
Theoretical Model ◽  
Control Method ◽  
Thickness Control ◽  
Oil Film

scholarly journals Modelling of the Coupled Beam-Piezoelectric Material With Hysteresis Non-Linerity Effect

2018 ◽  
Vol 217 ◽  
pp. 02001
Author(s):  
Mohd Hafiz Abdul Satar ◽  
Ahmad Zhafran Ahmad Mazlan
Keyword(s):  
Modal Analysis ◽  
Piezoelectric Material ◽  
Piezoelectric Actuator ◽  
Natural Frequencies ◽  
Mode Shapes ◽  
Stress And Strain ◽  
Sinusoidal Voltage ◽  
Correction Algorithm ◽  
Beam Structure ◽  
Piezoelectric Patch

Hysteresis is one of the non-linearity characteristics of the piezoelectric material. This characteristic is important to be characterized since it can affect the performance of the piezoelectric material as sensor or actuator in many applications. In this study, the model of the coupled aluminium beam with single piezoelectric patch material is constructed to investigate the hysteresis effect of the piezoelectric material to the whole beam structure. A P-876 DuraActTM type piezoelectric patch material is used in modelling of the piezoelectric actuator. Firstly, the modal analysis of the coupled beam-piezoelectric actuator is determined to get the natural frequencies and mode shapes. Then, the piezoelectric patch material is investigated in terms of actuator by given a sinusoidal voltage excitation and output in terms of deflection, stress and strain of the piezoelectric actuator are investigated. From the results, it is clear that, the coupled beam-piezoelectric material is affected by the hysteresis of the piezoelectric material and the natural frequencies of the beam structure. This characteristic is important for the piezoelectric actuator manufacturer and by providing the correction algorithm, it can improve the performance of the piezoelectric actuator for many applications.

Experimental Evaluation of a Piezoelectric Actuator for the Control of Vibration in a Cantilever Beam

1992 ◽  
Vol 206 (2) ◽  
pp. 99-106 ◽  
Author(s):  
J S Burdess ◽  
J N Fawcett
Keyword(s):  
Strain Rate ◽  
Piezoelectric Material ◽  
Cantilever Beam ◽  
Piezoelectric Actuator ◽  
Forced Vibration ◽  
Experimental Evaluation ◽  
Electrical Field ◽  
Control Forces ◽  
Piezoelectric Plates

When an electrical field is applied to a piezoelectric material, the material becomes mechanically strained. If this material is then bonded to a structure, this strain has an accompanying stress, and this can be used to introduce control forces into the structure. The paper considers this method of actuation by experimentally evaluating the use of piezoelectric plates for the purposes of controlling free and forced vibration in a cantilever beam. The control provided by measurements based on acceleration and strain rate is evaluated.

scholarly journals Flatness-Based Control of a Two Degrees-of-Freedom Platform With Pneumatic Artificial Muscles

2018 ◽  
Vol 141 (2) ◽  
Author(s):  
David Bou Saba ◽  
Paolo Massioni ◽  
Eric Bideaux ◽  
Xavier Brun
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Volume Ratio ◽  
Open Loop ◽  
Control Technique ◽  
Artificial Muscles ◽  
Two Degrees Of Freedom ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are an interesting type of actuators as they provide high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods taking into account their complex and nonlinear dynamics. This paper considers a two degrees-of-freedom platform whose attitude is determined by three pneumatic muscles controlled by servovalves. An overactuation is present as three muscles are controlled for only two degrees-of-freedom. The contribution of this work is twofold. First, whereas most of the literature approaches the control of systems of similar nature with sliding mode control, we show that the platform can be controlled with the flatness-based approach. This method is a nonlinear open-loop controller. In addition, this approach is model-based, and it can be applied thanks to the accurate models of the muscles, the platform and the servovalves, experimentally developed. In addition to the flatness-based controller, which is mainly a feedforward control, a proportional-integral (PI) controller is added in order to overcome the modeling errors and to improve the control robustness. Second, we solve the overactuation of the platform by an adequate choice for the range of the efforts applied by the muscles. In this paper, we recall the basics of this control technique and then show how it is applied to the proposed experimental platform. At the end of the paper, the proposed approach is compared to the most commonly used control method, and its effectiveness is shown by means of experimental results.

Balancing Control of a Mobile Manipulator with Two Wheels by an Acceleration-Based Disturbance Observer

2018 ◽  
Vol 15 (03) ◽  
pp. 1850005 ◽  
Author(s):  
Yeong-Geol Bae ◽  
Seul Jung
Keyword(s):  
Disturbance Observer ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Experimental Studies ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Control Performance ◽  
Six Degrees Of Freedom ◽  
Inertia Model ◽  
Balancing Control

This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB.

MECHANISM AND GRASPING CONTROL METHOD OF FINGER AND HAND WITH 25 DEGREES OF FREEDOM

Biomechanisms ◽  
1988 ◽  
Vol 9 (0) ◽  
pp. 219-230
Author(s):  
Toshio FUKUDA ◽  
Ken SHIMONAKA
Keyword(s):  
Degrees Of Freedom ◽  
Control Method
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