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.