Overactuation for Active Damping in Compliant Positioning Stage using Piezoelectric Transducers
A.M. Natu (TU Delft - Mechatronic Systems Design)
Marcin B. Kaczmarek (TU Delft - Mechatronic Systems Design)
S.H. Hassan HosseinNia (TU Delft - Mechatronic Systems Design)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
In non-collocated compliant positioning systems, the parasitic resonance peak induces undesirable vibrations, limiting control bandwidth. Despite conventional notch filters being employed alongside PID controllers for improving bandwidth, parasitic resonance effects persist in disturbance rejection. This paper introduces an overactuation-based solution, utilizing additional actuators for active damping control to enhance closed-loop disturbance rejection within a PID-based control architecture. Integrating distributed piezoelectric bender actuator sensor pairs in a collocated configuration further improves damping. A formulated mathematical framework substantiates the benefits, validated by an experimental setup serving as a proof of concept. The proposed solution effectively suppresses parasitic resonance, enhances end-effector disturbance rejection, and achieves higher control bandwidth in the positioning system.
help_outline