Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation

Yusaku Shinohara, K. Seki, M. Iwasaki, Hiroshi Chinda, Masaki Takahashi
{"title":"Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation","authors":"Yusaku Shinohara, K. Seki, M. Iwasaki, Hiroshi Chinda, Masaki Takahashi","doi":"10.1109/ICMECH.2013.6519134","DOIUrl":null,"url":null,"abstract":"This paper presents a controller design approach considering vibration suppression due to input saturation for load devices. In the target load device, a pneumatic actuator and a voice coil motor are combined as a dual-stage actuator to expand the control servo bandwidth. However, vibrations due to the input saturation of the voice coil motor deteriorate the force tracking performance for the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibration, where a compensator is designed to improve the disturbance suppression at the plant resonant frequency. The proposed approach has been verified by experiments using a prototype of load device.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"13 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2013.6519134","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

Abstract

This paper presents a controller design approach considering vibration suppression due to input saturation for load devices. In the target load device, a pneumatic actuator and a voice coil motor are combined as a dual-stage actuator to expand the control servo bandwidth. However, vibrations due to the input saturation of the voice coil motor deteriorate the force tracking performance for the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibration, where a compensator is designed to improve the disturbance suppression at the plant resonant frequency. The proposed approach has been verified by experiments using a prototype of load device.
考虑输入饱和抑制振动的双级执行器驱动负载装置控制器设计
本文提出了一种考虑负载装置输入饱和抑制振动的控制器设计方法。在目标负载装置中,将气动执行器和音圈电机组合为双级执行器,以扩大控制伺服带宽。然而,由于音圈电机的输入饱和引起的振动会使期望负载参考的力跟踪性能恶化。因此,在本研究中,采用环整形的方法抑制振动,其中设计了补偿器来改善在植物谐振频率处的干扰抑制。该方法已通过负载装置样机的实验验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信