Performance improvements for stick-slip positioners

A. Bergander, J. Breguet
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引用次数: 29

Abstract

Stick-slip actuators are frequently used systems for micro- and nano positioning because of their high dynamics and simple design. Driving at high velocities however is restricted, as either the actuators are very stiff and have a short stroke, or they have a large deformation but low natural frequencies. Beyond a certain frequency, which is determined by the actuators' natural frequency, the masses to be moved, and the damping ratios, the system cannot be driven in a controlled manner any more, as the velocity no longer increases linearly with the driving frequency and presents a "chaotic" behavior. This behavior is a result of a vibration after one step not being completely damped out before the next step occurs. In this paper, we propose a method to actuate stick-slip actuators with low natural frequencies at comparatively high driving frequencies, which permits to increase the velocity compared to the velocity obtained with a simple saw tooth signal of the same frequency. The driving signal for the actuators is convolved with a pulse sequence that cancels occurring vibration, a method that is commonly called "input shaping". Particular aspects of signal shaping for stick-slip drives will be discussed, simulation as well as measured experimental results are given.
粘滑定位器的性能改进
粘滑作动器由于其高动态性和简单的设计,是微纳定位中常用的系统。然而,高速行驶受到限制,因为执行器非常僵硬,行程短,或者它们具有大变形但固有频率低。超过一定的频率,即由作动器的固有频率、待动质量和阻尼比决定的频率,系统就不能再以受控的方式驱动了,速度不再随驱动频率线性增加,呈现出“混沌”行为。这种行为是由于在一步之后的振动在下一步发生之前没有被完全消除。在本文中,我们提出了一种以相对较高的驱动频率驱动低固有频率的粘滑致动器的方法,与使用相同频率的简单锯齿信号获得的速度相比,该方法可以提高速度。执行器的驱动信号与脉冲序列进行卷积,以消除发生的振动,这种方法通常称为“输入整形”。本文将讨论粘滑传动信号整形的具体问题,并给出仿真和实测实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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