Compensating commutation-angle domain disturbances with application to waveform optimization for piezo stepper actuators

Leontine Aarnoudse; Nard Strijbosch; Paul Tacx; Edwin Verschueren; Tom Oomen

doi:10.1016/j.mechatronics.2023.103016

Compensating commutation-angle domain disturbances with application to waveform optimization for piezo stepper actuators

Leontine Aarnoudse^*, Nard Strijbosch, Paul Tacx, Edwin Verschueren, Tom Oomen

^*Corresponding author for this work

Team Jan-Willem van Wingerden

Research output: Contribution to journal › Article › Scientific › peer-review

1 Citation (Scopus)

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Abstract

Piezo stepper actuators are very promising for 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 enhance the waveforms for actuating piezo steppers, by actively compensating for repetitive disturbances that are introduced by the walking behavior. A compensation method is developed to compensate for disturbances in the stepping domain, since disturbances may vary in the time domain if the velocity changes. 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
Article number	103016
Number of pages	14
Journal	Mechatronics
Volume	94
DOIs	https://doi.org/10.1016/j.mechatronics.2023.103016
Publication status	Published - 2023

Keywords

Feedforward control
Iterative learning control
Piezo actuators

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10.1016/j.mechatronics.2023.103016

1-s2.0-S0957415823000727-mainFinal published version, 1.3 MBLicence: CC BY-NC-ND

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title = "Compensating commutation-angle domain disturbances with application to waveform optimization for piezo stepper actuators",

abstract = "Piezo stepper actuators are very promising for 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 enhance the waveforms for actuating piezo steppers, by actively compensating for repetitive disturbances that are introduced by the walking behavior. A compensation method is developed to compensate for disturbances in the stepping domain, since disturbances may vary in the time domain if the velocity changes. 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.",

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author = "Leontine Aarnoudse and Nard Strijbosch and Paul Tacx and Edwin Verschueren and Tom Oomen",

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AU - Aarnoudse, Leontine

AU - Strijbosch, Nard

AU - Tacx, Paul

AU - Verschueren, Edwin

AU - Oomen, Tom

PY - 2023

Y1 - 2023

N2 - Piezo stepper actuators are very promising for 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 enhance the waveforms for actuating piezo steppers, by actively compensating for repetitive disturbances that are introduced by the walking behavior. A compensation method is developed to compensate for disturbances in the stepping domain, since disturbances may vary in the time domain if the velocity changes. 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 are very promising for 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 enhance the waveforms for actuating piezo steppers, by actively compensating for repetitive disturbances that are introduced by the walking behavior. A compensation method is developed to compensate for disturbances in the stepping domain, since disturbances may vary in the time domain if the velocity changes. 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 - Feedforward control

KW - Iterative learning control

KW - Piezo actuators

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VL - 94

JO - Mechatronics

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Compensating commutation-angle domain disturbances with application to waveform optimization for piezo stepper actuators

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Keywords

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