Actuators

19 pages, 815 KiB

Open AccessArticle

Predefined-Time Control of Full-Scale 4D Model of Permanent-Magnet Synchronous Motor with Deterministic Disturbances and Stochastic Noises

by Nain de la Cruz and Michael Basin

Actuators 2021, 10(11), 306; https://doi.org/10.3390/act10110306 - 21 Nov 2021

Cited by 13 | Viewed by 2975

Abstract

This paper presents a predefined-time convergent robust control algorithm that allows the control designer to set the convergence time in advance, independently of initial conditions, deterministic disturbances, and stochastic noises. The control law is consequently designed and verified by simulations for a full-scale [...] Read more.

This paper presents a predefined-time convergent robust control algorithm that allows the control designer to set the convergence time in advance, independently of initial conditions, deterministic disturbances, and stochastic noises. The control law is consequently designed and verified by simulations for a full-scale 4-degrees-of-freedom (4D) permanent-magnet synchronous motor (PMSM) system in cases of a disturbance-free system with completely measurable states, a disturbance-free system with incompletely measurable states, a system with incompletely measurable states in the presence of deterministic disturbances, and a system with incompletely measurable states in the presence of both deterministic disturbances and stochastic noises. Numerical simulations are provided for the full-scale 4D PMSM system in order to validate the obtained theoretical results in each of the considered cases. To the best of our knowledge, this is the first attempt to design a predefined-time convergent control law for multi-dimensional systems with incompletely measurable states in the presence of both deterministic disturbances and stochastic noises. Full article

(This article belongs to the Special Issue Finite-Time/Fixed-Time Control for Mechanical Systems)

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18 pages, 6440 KiB

Open AccessArticle

Design, 3D FEM Simulation and Prototyping of a Permanent Magnet Spherical Motor

by Umut Yusuf Gündoğar and Sibel Zorlu Partal

Actuators 2021, 10(11), 305; https://doi.org/10.3390/act10110305 - 21 Nov 2021

Cited by 4 | Viewed by 4123

Abstract

In recent years, large tilt angles, uniform magnetic flux distributions, strong forces, and large torques for motors have increasingly become important for robotics, biomedical, and automotive applications that have multi-degrees of freedom (MDOFs) motion. Generally, one-degree of-freedom motors are applied in MDOF motion. [...] Read more.

In recent years, large tilt angles, uniform magnetic flux distributions, strong forces, and large torques for motors have increasingly become important for robotics, biomedical, and automotive applications that have multi-degrees of freedom (MDOFs) motion. Generally, one-degree of-freedom motors are applied in MDOF motion. These situations cause the systems to have very complex and large structures. In order to address these issues, a 2-DOF surface permanent magnet spherical motor with a new mechanical design for the movement of the rotor with a large tilt angle of ±45° was designed, simulated, produced and tested in this paper. The motor consisted of a 4-pole permanent magnet rotor and a 3-block stator with 18 coils. In this study, the mechanical structure of the proposed spherical permanent magnet motor surrounded the rotor with two moving parts to move at a large tilt angle of ±45° without using any mechanical components such as spherical bearings, joint bearings, and bearing covers. Thus, the tilt angle, force, and torque values of the proposed motor have been improved according to MDOF motion motors using spherical bearings, bearing covers, or joint bearings in their mechanical structures in the literature. Ansys Maxwell software was used for the design and simulation of the motor. Three-dimensional (3D) finite element method (FEM) analysis and experimental studies were carried out on the force, torque, and magnetic flux density distribution of the motor. Then, simulation results and experimental results were compared to validate the 3D FEM simulations results. Full article

(This article belongs to the Special Issue Design and Application of Actuators with Multi-DOF Movement)

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38 pages, 14591 KiB

Open AccessArticle

Research on Low-Speed Driving Model of Ultrasonic Motor Based on Beat Traveling Wave Theory

by Weijun Zeng, Song Pan, Lei Chen, Weihao Ren and Xiaobin Hu

Actuators 2021, 10(11), 304; https://doi.org/10.3390/act10110304 - 19 Nov 2021

Cited by 2 | Viewed by 2256

Abstract

This paper proposes a driving method, the superimposed pulse driving method, that can make an ultrasonic motor run at a low speed. Although this method solves the periodic oscillation of speed in a traditional low-speed driving motor, it still has a small periodic [...] Read more.

This paper proposes a driving method, the superimposed pulse driving method, that can make an ultrasonic motor run at a low speed. Although this method solves the periodic oscillation of speed in a traditional low-speed driving motor, it still has a small periodic fluctuation, which affects the stability of the speed. To reduce the fluctuation rate of the motor speed, the structure model and driving model of the motor are established, based on the theory of a beat traveling wave, and the motion characteristics of the particle point are analyzed in this paper. The simulation curve of the motor speed is obtained according to the stator and rotor contact model and the transfer model. The research shows that the driving method introduced in this paper causes the stator surface to generate a traveling beat wave, and the driving end of the stator generates an intermittent reciprocating vibration and drives the rotor rotation, which is the mechanism of low-speed operation when the driving method is used to drive the motor, as well as the reason for the periodic fluctuation of the motor speed. To improve the speed stability, this paper controlled the output performance of the motor by changing the two control variables—prepressure and frequency difference—and concluded that the variation trend of the average speed and speed volatility were consistent with the variation trend of the motor’s average speed determinant and the speed volatility determinant, respectively, which is verified by the velocity measurement experiment and the vibration measurement experiment. These insights lay the theoretical foundation for the velocity adjustment and stability optimization and, finally, the application of the new driving method is prospected. Full article

(This article belongs to the Section Aircraft Actuators)

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19 pages, 830 KiB

Open AccessArticle

Robust Control of a Class of Nonlinear Discrete-Time Systems: Design and Experimental Results on a Real-Time Emulator

by Noussaiba Gasmi, Mohamed Boutayeb, Assem Thabet, Ghazi Bel Haj Frej and Mohamed Aoun

Actuators 2021, 10(11), 303; https://doi.org/10.3390/act10110303 - 18 Nov 2021

Cited by 2 | Viewed by 2092

Abstract

The aim of this study is to develop a new observer-based stabilization strategy for a class of Lipschitz uncertain systems. This new strategy improves the performances of existing methods and ensures better convergence conditions. Sliding window approach involves previous estimated states and measurements [...] Read more.

The aim of this study is to develop a new observer-based stabilization strategy for a class of Lipschitz uncertain systems. This new strategy improves the performances of existing methods and ensures better convergence conditions. Sliding window approach involves previous estimated states and measurements in the observer and the control law structures which increase the number of decision variables in the constraint to be solved and offers less restrictive Linear Matrix Inequality (LMI) conditions. The established sufficient stability conditions are in the form of Bilinear Matrix Inequality (BMI) which is solved in two steps. First, by using a slack variable technique and an appropriate reformulation of the Young’s inequality. Second, by introducing a useful approach to transform the obtained constraint to a more suitable one easily tractable by standard software algorithms. A comparison with the standard case is provided to show the superiority of the proposed

H_{\infty}

observer-based controller which offers greater degree of freedom. The accuracy and the potential of the proposed process are shown through real time implementation of the one-link flexible joint robot to ARDUINO UNO R3 device and numerical comparison with some existing results. Full article

(This article belongs to the Special Issue Robust and Optimal Control: Design Methodologies and Practical Applications)

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27 pages, 4634 KiB

Open AccessArticle

Development and Evaluation of Energy-Saving Electro-Hydraulic Actuator

by Triet Hung Ho and Thanh Danh Le

Actuators 2021, 10(11), 302; https://doi.org/10.3390/act10110302 - 17 Nov 2021

Cited by 7 | Viewed by 3403

Abstract

This paper will develop a novel electro-hydraulic actuator with energy saving characteristics. This system is able to work in differential configurations through the shifting algorithm of the valves, meaning that this developed system can be adjusted flexibly to obtain the desirable working requirements [...] Read more.

This paper will develop a novel electro-hydraulic actuator with energy saving characteristics. This system is able to work in differential configurations through the shifting algorithm of the valves, meaning that this developed system can be adjusted flexibly to obtain the desirable working requirements including the high effectiveness of energy recovery from the load, high velocity or torque. Instead of establishing the mathematical model for the purpose of the dynamic analysis, a model of the developed actuator is built in AMESim software. The simulation results reveal that the system is able to save approximately 20% energy consumption compared with a traditional without energy recovery EHA. Furthermore, to evaluate the accuracy of the model, experiments will be performed that prove strongly that the experimental results are well matched to the results attained from the simulation model. This work also offers a useful insight into designing and analyzing hydraulic systems without experiments. Full article

(This article belongs to the Section Control Systems)

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23 pages, 6094 KiB

Open AccessArticle

Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control

by Johannes Ultsch, Julian Ruggaber, Andreas Pfeiffer, Christina Schreppel, Jakub Tobolář, Jonathan Brembeck and Daniel Baumgartner

Actuators 2021, 10(11), 301; https://doi.org/10.3390/act10110301 - 12 Nov 2021

Cited by 5 | Viewed by 3433

Abstract

High-level modeling languages facilitate system modeling and the development of control systems. This is mainly achieved by the automated handling of differential algebraic equations which describe the dynamics of the modeled systems across different physical domains. A wide selection of model libraries provides [...] Read more.

High-level modeling languages facilitate system modeling and the development of control systems. This is mainly achieved by the automated handling of differential algebraic equations which describe the dynamics of the modeled systems across different physical domains. A wide selection of model libraries provides additional support to the modeling process. Nevertheless, deployment on embedded targets poses a challenge and usually requires manual modification and reimplementation of the control system. The novel proposed eFMI Standard (Functional Mock-up Interface for embedded systems) introduces a workflow and an automated toolchain to simplify the deployment of model-based control systems on embedded targets. This contribution describes the application and verification of the eFMI workflow using a vertical dynamics control problem with an automotive application as an example. The workflow is exemplified by a control system design process which is supported by the a-causal, multi-physical, high-level modeling language Modelica. In this process, the eFMI toolchain is applied to a model-based controller for semi-active dampers and demonstrated using an eFMI-based nonlinear prediction model within a nonlinear Kalman filter. The generated code was successfully tested in different validation steps on the dedicated embedded system. Additionally, tests with a low-volume production electronic control unit (ECU) in a series-produced car demonstrated the correct execution of the controller code under real-world conditions. The novelty of our approach is that it automatically derives an embedded software solution from a high-level multi-physical model with standardized eFMI methodology and tooling. We present one of the first full application scenarios (covering all aspects ranging from multi-physical modeling up to embedded target deployment) of the new eFMI tooling. Full article

(This article belongs to the Special Issue Vehicle Modeling and Control)

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13 pages, 2684 KiB

Open AccessArticle

A Procedure for the Fatigue Life Prediction of Straight Fibers Pneumatic Muscles

by Francesco Durante, Michele Gabrio Antonelli, Pierluigi Beomonte Zobel and Terenziano Raparelli

Actuators 2021, 10(11), 300; https://doi.org/10.3390/act10110300 - 11 Nov 2021

Cited by 6 | Viewed by 2124

Abstract

Different from the McKibben pneumatic muscle actuator, the straight fibers one is made of an elastomeric tube closed at the two ends by two heads that ensure a mechanical and pneumatic seal. High stiffness threads are placed longitudinally into the wall of the [...] Read more.

Different from the McKibben pneumatic muscle actuator, the straight fibers one is made of an elastomeric tube closed at the two ends by two heads that ensure a mechanical and pneumatic seal. High stiffness threads are placed longitudinally into the wall of the tube while external rings are placed at some sections of it to limit the radial expansion of the tube. The inner pressure in the tube causes shortening of the actuator. The working mode of the muscle actuator requires a series of critical repeated contractions and extensions that cause it to rupture. The fatigue life duration of a pneumatic muscle is often lower than traditional pneumatic actuators. The paper presents a procedure for the fatigue life prediction of a straight-fibers muscle based on experimental tests directly carried out with the muscles instead of with specimens of the silicone rubber material which the muscle is made of. The proposed procedure was experimentally validated. Although the procedure is based on fatigue life duration data for silicone rubber, it can be extended to all straight-fibers muscles once the fatigue life duration data of any material considered for the muscles is known. Full article

(This article belongs to the Special Issue Pneumatic Muscle Actuators)

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33 pages, 14276 KiB

Open AccessArticle

Design and Control of an Inflatable Spherical Robotic Arm for Pick and Place Applications

by Matthias Hofer, Jasan Zughaibi and Raffaello D’Andrea

Actuators 2021, 10(11), 299; https://doi.org/10.3390/act10110299 - 11 Nov 2021

Cited by 6 | Viewed by 4996

Abstract

We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled [...] Read more.

We present an inflatable soft robotic arm made of fabric that leverages state-of-the-art manufacturing techniques, leading to a robust and reliable manipulator. Three bellow-type actuators are used to control two rotational degrees of freedom, as well as the joint stiffness that is coupled to a longitudinal elongation of the movable link used to grasp objects. The design is motivated by a safety analysis based on first principles. It shows that the interaction forces during an unexpected collision are primarily caused by the attached payload mass, but can be reduced by a lightweight design of the robot arm. A control allocation strategy is employed that simplifies the modeling and control of the robot arm and we show that a particular property of the allocation strategy ensures equal usage of the actuators and valves. The modeling and control approach systematically incorporates the effect of changing joint stiffness and the presence of a payload mass. An investigation of the valve flow capacity reveals that a proper timescale separation between the pressure and arm dynamics is only given for sufficient flow capacity. Otherwise, the applied cascaded control approach can introduce oscillatory behavior, degrading the overall control performance. A closed form feed forward strategy is derived that compensates errors induced by the longitudinal elongation of the movable link and allows the realization of different object manipulation applications. In one of the applications, the robot arm hands an object over to a human, emphasizing the safety aspect of the soft robotic system. Thereby, the intrinsic compliance of the robot arm is leveraged to detect the time when the robot should release the object. Full article

(This article belongs to the Special Issue Pneumatic Actuators for Robotics and Automation)

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22 pages, 3058 KiB

Open AccessReview

Light-Responsive Soft Actuators: Mechanism, Materials, Fabrication, and Applications

by Yaoli Huang, Qinghua Yu, Chuanli Su, Jinhua Jiang, Nanliang Chen and Huiqi Shao

Actuators 2021, 10(11), 298; https://doi.org/10.3390/act10110298 - 10 Nov 2021

Cited by 23 | Viewed by 7015

Abstract

Soft robots are those that can move like living organisms and adapt to the surrounding environment. Compared with traditional rigid robots, the advantages of soft robots, in terms of material flexibility, human–computer interaction, and biological adaptability, have received extensive attention. Flexible actuators based [...] Read more.

Soft robots are those that can move like living organisms and adapt to the surrounding environment. Compared with traditional rigid robots, the advantages of soft robots, in terms of material flexibility, human–computer interaction, and biological adaptability, have received extensive attention. Flexible actuators based on light response are one of the most promising ways to promote the field of cordless soft robots, and they have attracted the attention of scientists in bionic design, actuation implementation, and application. First, the three working principles and the commonly used light-responsive materials for light-responsive actuators are introduced. Then, the characteristics of light-responsive soft actuators are sequentially presented, emphasizing the structure strategy, actuation performance, and emerging applications. Finally, this review is concluded with a perspective on the existing challenges and future opportunities in this nascent research frontier. Full article

(This article belongs to the Special Issue Soft Actuation: State of the Art and Outlook)

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10 pages, 3839 KiB

Open AccessArticle

Effect of Forced Liquid Cooling on the Voltage/Charge Displacement Characteristics of Stacked Piezoelectric Actuators during High-Frequency Drive

by Rina Nishida, Jianpeng Zhong and Tadahiko Shinshi

Actuators 2021, 10(11), 297; https://doi.org/10.3390/act10110297 - 10 Nov 2021

Cited by 2 | Viewed by 2620

Abstract

Piezoelectric stack actuators (PESAs) are widely used in applications requiring a fast response, high resolution, and high accuracy. The self-heating of a PESA during continuous drive with a large amplitude at high frequencies can change its voltage displacement and charge displacement characteristics. These [...] Read more.

Piezoelectric stack actuators (PESAs) are widely used in applications requiring a fast response, high resolution, and high accuracy. The self-heating of a PESA during continuous drive with a large amplitude at high frequencies can change its voltage displacement and charge displacement characteristics. These changes can lead to a loss of stability and inaccurate PESA positioning systems. In this paper, we confirmed that by using our proposed forced liquid cooling, the changes to the dynamic characteristics and the impedance of a PESA due to the fact of self-heating could be reduced. Voltage displacement curve measurements at 10 kHz demonstrated that with natural heat dissipation, the amplitude of PESA increased by 15% due to the self-heating compared to the amplitude measured at the start of driving but only by 3% with forced liquid cooling. The displacement-to-charge ratio decreased by 12% compared to that at room temperature with natural heat dissipation, while it increased by 1% during forced liquid cooling. In the measured frequency response of the voltage displacement transfer function, the increased temperature changed the gain and phase of the first and secondary vibration modes above 20 kHz with natural heat dissipation. Forced liquid cooling also reduced the variations in the frequency response of the voltage displacement transfer function. Full article

(This article belongs to the Special Issue Design and Control of High-Precision Motion Systems)

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11 pages, 15456 KiB

Open AccessCommunication

Micro-Range Actuation by Pressure-Induced Elastic Deformation of 316L Steel Membranes Produced by Laser Powder Bed Fusion

by Florian Fettweis, Bjorn Verrelst and Svend Bram

Actuators 2021, 10(11), 296; https://doi.org/10.3390/act10110296 - 6 Nov 2021

Cited by 1 | Viewed by 2113

Abstract

In this paper, fundamental research is performed on membrane type actuators made out of 316L stainless steel, manufactured with Laser powder bed fusion (LPBF). A total of six membranes with membrane thicknesses ranging from 0.6 mm up to 1.2 mm were scanned using [...] Read more.

In this paper, fundamental research is performed on membrane type actuators made out of 316L stainless steel, manufactured with Laser powder bed fusion (LPBF). A total of six membranes with membrane thicknesses ranging from 0.6 mm up to 1.2 mm were scanned using a high precision metrology system to measure the membrane for displacement at different actuating pressures. The membranes were furthermore investigated for roughness, porosity and thickness. This showed that the thinnest membranes skewed in the print direction when actuated. The remaining membranes achieved higher specific displacements than finite element simulations (FES) predicted, due to surface roughness and porosity. Membrane type actuators can be used for precise actuation within the micrometre range. LPBF allows the creation of internal pockets and membranes in a single metal piece. In opposition to the more commonly used polymers for membrane-type actuators, LPBF steel printed parts offer high stiffness and actuation force. However, due to limitations of the LPBF process on thin walls, large deviations from FES occur. In this paper, a CAD and FES compensation strategy is suggested, which makes future, more complex and effective, designs possible. Full article

(This article belongs to the Section Miniaturized and Micro Actuators)

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21 pages, 5977 KiB

Open AccessArticle

Extension Coordinated Multi-Objective Adaptive Cruise Control Integrated with Direct Yaw Moment Control

by Hongbo Wang, Youding Sun, Zhengang Gao and Li Chen

Actuators 2021, 10(11), 295; https://doi.org/10.3390/act10110295 - 6 Nov 2021

Cited by 6 | Viewed by 2774

Abstract

An adaptive cruise control (ACC) system can reduce driver workload and improve safety by taking over the longitudinal control of vehicles. Nowadays, with the development of range sensors and V2X technology, the ACC system has been applied to curved conditions. Therefore, in the [...] Read more.

An adaptive cruise control (ACC) system can reduce driver workload and improve safety by taking over the longitudinal control of vehicles. Nowadays, with the development of range sensors and V2X technology, the ACC system has been applied to curved conditions. Therefore, in the curving car-following process, it is necessary to simultaneously consider the car-following performance, longitudinal ride comfort, fuel economy and lateral stability of ACC vehicle. The direct yaw moment control (DYC) system can effectively improve the vehicle lateral stability by applying different longitudinal forces to different wheels. However, the various control objectives above will conflict with each other in some cases. To improve the overall performance of ACC vehicle and realize the coordination between these control objectives, the extension control is introduced to design the real-time weight matrix under a multi-objective model predictive control (MPC) framework. The driver-in-the-loop (DIL) tests on a driving simulator are conducted and the results show that the proposed method can effectively improve the overall performance of vehicle control system and realize the coordination of various control objectives. Full article

(This article belongs to the Special Issue Actuators for Intelligent Electric Vehicles)

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20 pages, 16872 KiB

Open AccessArticle

Towards Fabrication of Planar Magnetoelectric Devices: Coil-Free Excitation of Ferromagnet-Piezoelectric Heterostructures

by Dmitri Burdin, Dmitri Chashin, Leonid Fetisov, Dmitri Saveliev, Nikolai Ekonomov, Melvin Vopson and Yuri Fetisov

Actuators 2021, 10(11), 294; https://doi.org/10.3390/act10110294 - 4 Nov 2021

Cited by 3 | Viewed by 2045

Abstract

Magnetoelectric (ME) effects in composite ferromagnet-piezoelectric (FM/PE) heterostructures realize the mutual transformation of alternating magnetic and electric fields, and are used to create magnetic field sensors, actuators, inductors, gyrators, and transformers. The ME effect in composite structures is excited by an alternating magnetic [...] Read more.

Magnetoelectric (ME) effects in composite ferromagnet-piezoelectric (FM/PE) heterostructures realize the mutual transformation of alternating magnetic and electric fields, and are used to create magnetic field sensors, actuators, inductors, gyrators, and transformers. The ME effect in composite structures is excited by an alternating magnetic field, which is created using volumetric electromagnetic coils. The coil increases the size, limits the operating frequencies, and complicates the manufacture of devices. In this work, we propose to excite the ME effect in composite heterostructures using a new coil-free excitation system, similar to a “magnetic capacitor”. The system consists of parallel electrodes integrated into the heterostructure, through which an alternating current flows. Modeling and measurements have shown that the excitation magnetic field is localized mainly between the electrodes of the magnetic capacitor and has a fairly uniform spatial distribution. Monolithic FM/PE heterostructures of various designs with FM layers of amorphous Metglas alloy or nickel-zinc ferrite and PE layers of lead zirconate titanate piezoceramic were fabricated and investigated. The magnitude of the ME effect in such structures is comparable to the magnitude of the ME effect in structures excited by volumetric coils. However, the low impedance of the coil-free excitation system makes it possible to increase the operating frequency, reducing the size of ME devices and the power consumption. The use of coil-free excitation opens up the possibility of creating planar ME devices, and accelerates their integration into modern electronics and microsystem technology. Full article

(This article belongs to the Special Issue New Design and Applications for Magnetoelastic Actuators)

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22 pages, 2093 KiB

Open AccessArticle

Interval Type-2 Fuzzy Dynamic High Type Control of Permanent Magnet Synchronous Motor with Vector Decoupling Method

by Xinglong Chen, Wei Tong, Yao Mao and Tao Zhao

Actuators 2021, 10(11), 293; https://doi.org/10.3390/act10110293 - 2 Nov 2021

Cited by 4 | Viewed by 2616

Abstract

This paper presents an interval type-2 fuzzy dynamic high type (IT2FDHT) control based on vector decoupling method for permanent magnet synchronous motor (PMSM) to improve the dynamic characteristics of the system. Firstly, to address the shortcomings of the traditional PI regulator used in [...] Read more.

This paper presents an interval type-2 fuzzy dynamic high type (IT2FDHT) control based on vector decoupling method for permanent magnet synchronous motor (PMSM) to improve the dynamic characteristics of the system. Firstly, to address the shortcomings of the traditional PI regulator used in the current loop of PMSM, an improved PI regulator based on voltage feed-forward decoupling is used. Then, considering the characteristics that the higher the system type, the smaller the steady-state error and the shorter the regulation time, the high type control structure is added. However, a purely high type structure amplifies the oscillations of the system and is extremely sensitive to perturbations, which can easily lead to system divergence. Therefore, in order to solve the problems caused by high type structure, finally we designed dynamic high type control with the help of fuzzy logic systems (FLSs), which successfully achieved automatic switching of system type while improving response speed and steady-state accuracy. Meanwhile, quantum-behaved particle swarm optimization (QPSO) algorithm is employed to determine the parameters of FLSs. In summary, five methods including conventional PI, feed-forward decoupling PI (FDPI), FDPI high type (FDPI-HT), FDPI type-1 fuzzy dynamic high type (FDPI-T1FDHT), and FDPI-IT2FDHT, are compared to show the superiority of the proposed method. By means of simulations, the excellence of proposed FDPI-IT2FDHT is verified. Full article

(This article belongs to the Section Control Systems)

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9 pages, 1951 KiB

Open AccessCommunication

Design of Four-DoF Compliant Parallel Manipulators Considering Maximum Kinematic Decoupling for Fast Steering Mirrors

by Guangbo Hao, Haiyang Li, Yu-Hao Chang and Chien-Sheng Liu

Actuators 2021, 10(11), 292; https://doi.org/10.3390/act10110292 - 1 Nov 2021

Cited by 5 | Viewed by 2494

Abstract

Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify [...] Read more.

Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the requirements of the FSM. In order to simplify high-precision control in parallel manipulators, maximum kinematic decoupling is always desired. A constraint map method is used to propose the four required DoF with the consideration of maximum kinematic decoupling. A specific compliant mechanism is presented based on the constraint map, and its kinematics is estimated analytically. Finite element analysis demonstrates the desired qualitative motion and provides some initial quantitative analysis. A normalization-based compliance matrix is finally derived to verify and demonstrate the mobility of the system clearly. In a case study, the results of normalization-based compliance matrix modelling show that the diagonal entries corresponding to the four DoF directions are about 10 times larger than those corresponding to the two-constraint directions, validating the desired mobility. Full article

(This article belongs to the Special Issue Design and Application of Actuators with Multi-DOF Movement)

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20 pages, 11019 KiB

Open AccessArticle

An Extended Model for Ripple Analysis of 2–4 Phase Resonant Electrostatic Induction Motors

by Fernando Carneiro, Guangwei Zhang, Masahiko Osada, Shunsuke Yoshimoto and Akio Yamamoto

Actuators 2021, 10(11), 291; https://doi.org/10.3390/act10110291 - 29 Oct 2021

Cited by 2 | Viewed by 2475

Abstract

Electrostatic motors are promising forms of actuation for future robotic devices. The study of their different implementations should accelerate their adoption. Current models for resonant electrostatic induction motors were found not to be able to properly describe their behavior, namely, with regard to [...] Read more.

Electrostatic motors are promising forms of actuation for future robotic devices. The study of their different implementations should accelerate their adoption. Current models for resonant electrostatic induction motors were found not to be able to properly describe their behavior, namely, with regard to changes with position. This paper reports a new analytical model for these motors, aiming to address this issue. The model is based on identification of all capacitance harmonics, through a simplified method. Using these, equations for different motor parameters, notably, thrust force, were obtained and compared to previous literature. The new equations model position dependent properties, such as force ripple. The outputs of this model were validated through experimentation with a prototype, with the results confirming the new model better describes motor behavior. An analysis into how to decrease this ripple was also discussed and tested. We concluded that the use of a higher number of harmonics resulted in a much more accurate model, capable of adequately characterizing motor outputs with changes in position. Full article

(This article belongs to the Section Precision Actuators)

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19 pages, 46634 KiB

Open AccessArticle

Design and Assist-as-Needed Control of Flexible Elbow Exoskeleton Actuated by Nonlinear Series Elastic Cable Driven Mechanism

by Bingshan Hu, Fuchao Zhang, Hongrun Lu, Huaiwu Zou, Jiantao Yang and Hongliu Yu

Actuators 2021, 10(11), 290; https://doi.org/10.3390/act10110290 - 29 Oct 2021

Cited by 15 | Viewed by 4227

Abstract

Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine interaction, [...] Read more.

Exoskeletons can assist the daily life activities of the elderly with weakened muscle strength, but traditional rigid exoskeletons bring parasitic torque to the human joints and easily disturbs the natural movement of the wearer’s upper limbs. Flexible exoskeletons have more natural human-machine interaction, lower weight and cost, and have great application potential. Applying assist force according to the patient’s needs can give full play to the wearer’s remaining muscle strength, which is more conducive to muscle strength training and motor function recovery. In this paper, a design scheme of an elbow exoskeleton driven by flexible antagonistic cable actuators is proposed. The cable actuator is driven by a nonlinear series elastic mechanism, in which the elastic elements simulate the passive elastic properties of human skeletal muscle. Based on an improved elbow musculoskeletal model, the assist torque of exoskeleton is predicted. An assist-as-needed (AAN) control algorithm is proposed for the exoskeleton and experiments are carried out. The experimental results on the experimental platform show that the root mean square error between the predicted assist torque and the actual assist torque is 0.00226 Nm. The wearing experimental results also show that the AAN control method designed in this paper can reduce the activation of biceps brachii effectively when the exoskeleton assist level increases. Full article

(This article belongs to the Section Actuators for Robotics)

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19 pages, 50723 KiB

Open AccessArticle

SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications

by Vincent Ducastel, Kevin Langlois, Marco Rossini, Victor Grosu, Bram Vanderborght, Dirk Lefeber, Tom Verstraten and Joost Geeroms

Actuators 2021, 10(11), 289; https://doi.org/10.3390/act10110289 - 27 Oct 2021

Cited by 5 | Viewed by 4304

Abstract

With the growing popularity of Human–Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. [...] Read more.

With the growing popularity of Human–Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications. Full article

(This article belongs to the Special Issue Advanced Robots: Design, Control and Application)

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24 pages, 3704 KiB

Open AccessArticle

Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

by Xin Cheng, Huashan Liu and Wenke Lu

Actuators 2021, 10(11), 288; https://doi.org/10.3390/act10110288 - 27 Oct 2021

Cited by 30 | Viewed by 3630

Abstract

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two [...] Read more.

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%. Full article

(This article belongs to the Section Actuators for Robotics)

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20 pages, 5527 KiB

Open AccessArticle

A Novel Double Redundant Brake-by-Wire System for High Automation Driving Safety: Design, Optimization and Experimental Validation

by Chao Li, Junzhi Zhang, Xiaohui Hou, Yuan Ji, Jinheng Han, Chengkun He and Jiangmai Hao

Actuators 2021, 10(11), 287; https://doi.org/10.3390/act10110287 - 26 Oct 2021

Cited by 10 | Viewed by 4867

Abstract

The high redundant brake-by-wire system reveals vehicular safety handling ability and rarely emerges in the automotive area at the present time. This paper presents a novel brake-by-wire system, DREHB (Double Redundant Electro-Hydraulic Brake), with extensible fail-safe operations for high-automation autonomous driving vehicles. The [...] Read more.

The high redundant brake-by-wire system reveals vehicular safety handling ability and rarely emerges in the automotive area at the present time. This paper presents a novel brake-by-wire system, DREHB (Double Redundant Electro-Hydraulic Brake), with extensible fail-safe operations for high-automation autonomous driving vehicles. The DREHB is designed as a decoupled-architecture system containing three-layer cascaded modules, including a hydraulic power provider, a hydraulic flow switcher, and a hydraulic pressure modulator, and each of the modules can share dual redundancy. The operating principles of the DREHB in normal and degraded initiative braking modes are introduced, especially for the consideration of fail-safe and fail-operational functions. The matching and optimization of selected key parameters of the electric boost master cylinder and the linear solenoid valve were conducted using computer-aided batched simulations with a DREHB system modeled in MATLAB/Simulink and AMESim. The prototype of the DREHB was tested in hardware-in-the-loop experiments. The test results of typical braking scenarios verify the feasibility and effectiveness of the DREHB system, and the hydraulic pressure response as 28.0 MPa/s and tracking error within 0.15 MPa and the desirable fail-safe braking ability fully meets the requirements of higher braking safety and efficiency. Full article

(This article belongs to the Section Actuators for Land Transport)

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22 pages, 4151 KiB

Open AccessArticle

Learning-Based Cooperative Adaptive Cruise Control

by Jonas Mirwald, Johannes Ultsch, Ricardo de Castro and Jonathan Brembeck

Actuators 2021, 10(11), 286; https://doi.org/10.3390/act10110286 - 26 Oct 2021

Cited by 7 | Viewed by 4552

Abstract

Traffic congestion and the occurrence of traffic accidents are problems that can be mitigated by applying cooperative adaptive cruise control (CACC). In this work, we used deep reinforcement learning for CACC and assessed its potential to outperform model-based methods. The trade-off between distance-error [...] Read more.

Traffic congestion and the occurrence of traffic accidents are problems that can be mitigated by applying cooperative adaptive cruise control (CACC). In this work, we used deep reinforcement learning for CACC and assessed its potential to outperform model-based methods. The trade-off between distance-error minimization and energy consumption minimization whilst still ensuring operational safety was investigated. Alongside a string stability condition, robustness against burst errors in communication also was incorporated, and the effect of preview information was assessed. The controllers were trained using the proximal policy optimization algorithm. A validation by comparison with a model-based controller was performed. The performance of the trained controllers was verified with respect to the mean energy consumption and the root mean squared distance error. In our evaluation scenarios, the learning-based controllers reduced energy consumption in comparison to the model-based controller by 17.9% on average. Full article

(This article belongs to the Special Issue Vehicle Modeling and Control)

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11 pages, 3359 KiB

Open AccessArticle

RETRACTED: A Closed-Loop Control Mathematical Model for Photovoltaic-Electrostatic Hybrid Actuator with a Slant Lower Electrode Based on PLZT Ceramic

by Zhen Lv, Muhammad Uzair, Xinjie Wang and Yafeng Liu

Actuators 2021, 10(11), 285; https://doi.org/10.3390/act10110285 - 25 Oct 2021

Cited by 3 | Viewed by 2409 | Retraction

Abstract

In this paper, a novel photovoltaic-electrostatic hybrid actuator with a slant lower electrode based on the PLZT ceramic is proposed. The mathematical model of photovoltaic-electrostatic hybrid actuator is established. Then, based on the mathematical model of photovoltaic-electrostatic hybrid actuator and the parameters identified, [...] Read more.

In this paper, a novel photovoltaic-electrostatic hybrid actuator with a slant lower electrode based on the PLZT ceramic is proposed. The mathematical model of photovoltaic-electrostatic hybrid actuator is established. Then, based on the mathematical model of photovoltaic-electrostatic hybrid actuator and the parameters identified, the mathematical simulation of the closed-loop displacement control for the photovoltaic-electrostatic hybrid actuator based on the PLZT ceramic is carried out. The results show that the displacement of the actuator can be controlled successfully at a particular value within the pull-in displacement by the light source. Furthermore, the response speed of the output displacement for photovoltaic-electrostatic hybrid actuator with a slant lower electrode is faster than that with a parallel lower electrode, offering a good potential to advance the current applications on micro-electro-mechanical system. Full article

(This article belongs to the Special Issue Miniature and Micro-Actuators)

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14 pages, 7382 KiB

Open AccessArticle

Adaptive Control of Chaotic Signals: Investigated by Simulation Software and Real Electronic Circuits

by Cheng-Hsiung Yang, Che-Lun Chang and Shih-Yu Li

Actuators 2021, 10(11), 284; https://doi.org/10.3390/act10110284 - 25 Oct 2021

Cited by 1 | Viewed by 2321

Abstract

Chaotic behavior is complicated, sensitive, and has the feature of great variety, which are the most potential signals to be applied in data encryption, secure communication, medical information protection, etc. As a consequence, in this paper, we try to propose three different ways [...] Read more.

Chaotic behavior is complicated, sensitive, and has the feature of great variety, which are the most potential signals to be applied in data encryption, secure communication, medical information protection, etc. As a consequence, in this paper, we try to propose three different ways to show our data generating results step by step, which means it can be proved effectively and used in practice: (1) Chaotic solutions simulated by MATLAB, (2) chaotic motion drawn via electronic circuits software Multisim, and (3) chaotic signal implemented on real electronic circuits with breadboard. In advance, following the same design principal, the adaptive chaotic signal is also designed and presented in the end of this article for further study, which provides a more flexible and variable chaotic signal to enhance the encryption effectiveness. The experimental results are extremely close to the two simulation results and can definitely be technically transferred to real encryption application. Full article

(This article belongs to the Special Issue Actuators in Robotic Control)

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22 pages, 2330 KiB

Open AccessArticle

Adaptive Cuckoo Search-Extreme Learning Machine Based Prognosis for Electric Scooter System under Intermittent Fault

by Ming Yu, Chenyu Xiao, Hai Wang, Wuhua Jiang and Rensheng Zhu

Actuators 2021, 10(11), 283; https://doi.org/10.3390/act10110283 - 22 Oct 2021

Cited by 5 | Viewed by 2134

Abstract

In this paper, an adaptive Cuckoo search extreme learning machine (ACS-ELM)-based prognosis method is developed for an electric scooter system with intermittent faults. Firstly, bond-graph-based fault detection and isolation is carried out to find possible faulty components in the electric scooter system. Secondly, [...] Read more.

In this paper, an adaptive Cuckoo search extreme learning machine (ACS-ELM)-based prognosis method is developed for an electric scooter system with intermittent faults. Firstly, bond-graph-based fault detection and isolation is carried out to find possible faulty components in the electric scooter system. Secondly, submodels are decomposed from the global model using structural model decomposition, followed by adaptive Cuckoo search (ACS)-based distributed fault estimation with less computational burden. Then, as the intermittent fault gradually deteriorates in magnitude, and possesses the characteristics of discontinuity and stochasticity, a set of fault features that can describe the intermittent fault’s evolutionary trend are captured with the aid of tumbling window. With the obtained dataset, which represents the fault features, the ACS-ELM is developed to model the intermittent fault degradation trend and predict the remaining useful life of the intermittently faulty component when the physical degradation model is unavailable. In the ACS-ELM, the ACS is employed to optimize the input weights and hidden layer biases of an extreme learning machine, to improve the algorithm performance. Finally, the proposed methodologies are validated by a series of simulation and experiment results based on the electric scooter system. Full article

(This article belongs to the Section Actuators for Land Transport)

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28 pages, 11152 KiB

Open AccessArticle

Prescribed Performance Control with Sliding-Mode Dynamic Surface for a Glue Pump Motor Based on Extended State Observers

by Peiyu Wang, Liangkuan Zhu, Chunrui Zhang, Chengcheng Wang and Kangming Xiao

Actuators 2021, 10(11), 282; https://doi.org/10.3390/act10110282 - 22 Oct 2021

Cited by 7 | Viewed by 2325

Abstract

The actuator of a particleboard glue-dosing system, the glue pump motor, is affected by external disturbances and unknown uncertainty. In order to achieve accurate glue-flow tracking, in this paper, a glue pump motor compound control method was designed. First, the prescribed performance control [...] Read more.

The actuator of a particleboard glue-dosing system, the glue pump motor, is affected by external disturbances and unknown uncertainty. In order to achieve accurate glue-flow tracking, in this paper, a glue pump motor compound control method was designed. First, the prescribed performance control method is used to improve the transient behaviors, and the error of the glue flow tracking is guaranteed to converge to a preset range, as a result of the design of an appropriate performance function. Second, two extended state observers were designed to estimate the state vector and the disturbance, in order to improve the robustness of the controlled system. To further strengthen the steady-state performance of the system, the sliding-mode dynamic surface control method was introduced to compensate for uncertainties and disturbances. Finally, a Lyapunov stability analysis was conducted, in order to prove that all of the signals are bounded in a closed-loop system, and the effectiveness and feasibility of the proposed method were verified through numerical simulation. Full article

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18 pages, 2406 KiB

Open AccessArticle

Model-Based Observer Design Considering Unequal Measurement Delays

by Yousef Alipouri and Lexuan Zhong

Actuators 2021, 10(11), 281; https://doi.org/10.3390/act10110281 - 22 Oct 2021

Viewed by 1620

Abstract

State observers are essential components of a modern control system. It is often designed based on a mathematical model of the process, thus requiring detailed process knowledge. However, in the existing state estimation methods, equal delays are commonly assumed for all communication lines, [...] Read more.

State observers are essential components of a modern control system. It is often designed based on a mathematical model of the process, thus requiring detailed process knowledge. However, in the existing state estimation methods, equal delays are commonly assumed for all communication lines, which is unrealistic and poses problems such as instability and a degraded performance of observers when unequal time delays exist. In this paper, a design of observers considering the measurement delays is presented. To deal with this problem, a chain-based observer has been proposed in which each chain deals with one output delay, performs prediction for the unavailable output value, and passes it to the next chain. Convergence of each chain observer as well as overall state estimation were proven. To illustrate the performance of the proposed scheme, simulation studies were performed on a benchmark continuous stirred tank heater (CSTH) process. Full article

(This article belongs to the Section Control Systems)

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13 pages, 6324 KiB

Open AccessArticle

Hysteresis Modeling of a PAM System Using ANFIS

by Saad Abu Mohareb, Adham Alsharkawi and Moudar Zgoul

Actuators 2021, 10(11), 280; https://doi.org/10.3390/act10110280 - 21 Oct 2021

Cited by 6 | Viewed by 2827

Abstract

Pneumatic artificial muscles (PAMs) are excellent environmentally friendly actuators and springs that remain somewhat underutilized in the industry due to their hysteretic behavior, which makes predicting their behavior difficult. This paper presents a novel black-box approach that employs an adaptive-network-based fuzzy inference system [...] Read more.

Pneumatic artificial muscles (PAMs) are excellent environmentally friendly actuators and springs that remain somewhat underutilized in the industry due to their hysteretic behavior, which makes predicting their behavior difficult. This paper presents a novel black-box approach that employs an adaptive-network-based fuzzy inference system (ANFIS) to create pressure-contraction hysteresis models. The resulting models are simulated in a control system toolbox to test their controllability using a simple proportional-integral (PI) controller. The data showed that the models created based on fixed inputs had an average normalized root mean square error (RMSE) of 0.0327, and their generalized counterparts achieved an average normalized RMSE of 0.04087. The simulation results showed that the PI controller was able to achieve mean tracking errors of 8.1 µm and 18.3 µm when attempting to track a sinusoidal and step references, respectively. This work concludes that modeling using the ANFIS is limited to being able to know the derivative of the input pressure or its rate of change, but competently models hysteresis in PAMs across multiple operating ranges. This is the highlight of this work. Additionally, these ANFIS-created models lend themselves well to controller, but exploring more refined control schemes is necessary to fully utilize them. Full article

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19 pages, 3820 KiB

Open AccessArticle

System-Level Modelling and Simulation of a Multiphysical Kick and Catch Actuator System

by Arwed Schütz, Sönke Maeter and Tamara Bechtold

Actuators 2021, 10(11), 279; https://doi.org/10.3390/act10110279 - 21 Oct 2021

Cited by 7 | Viewed by 2614

Abstract

This paper presents a system-level model of a microsystem architecture deploying cooperating microactuators. An assembly of a piezoelectric kick-actuator and an electromagnetic catch-actuator manipulates a structurally unconnected, magnetized micromirror. The absence of mechanical connections allows for large deflections and multistability. Closed-loop feedback control [...] Read more.

This paper presents a system-level model of a microsystem architecture deploying cooperating microactuators. An assembly of a piezoelectric kick-actuator and an electromagnetic catch-actuator manipulates a structurally unconnected, magnetized micromirror. The absence of mechanical connections allows for large deflections and multistability. Closed-loop feedback control allows this setup to achieve high accuracy, but requires fast and precise system-level models of each component. Such models can be generated directly from large-scale finite element (FE) models via mathematical methods of model order reduction (MOR). A special challenge lies in reducing a nonlinear multiphysical FE model of a piezoelectric kick-actuator and its mechanical contact to a micromirror, which is modeled as a rigid body. We propose to separate the actuator–micromirror system into two single-body systems. This step allows us to apply the contact-induced forces as inputs to each sub-system and, thus, avoid the nonlinear FE model. Rather, we have the linear model with nonlinear input, to which established linear MOR methods can be applied. Comparisons between the reference FE model and the reduced order model demonstrate the feasibility of the proposed methodology. Finally, a system-level simulation of the whole assembly, including two actuators, a micromirror and a simple control circuitry, is presented. Full article

(This article belongs to the Special Issue Cooperative Microactuator Systems)

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19 pages, 8184 KiB

Open AccessArticle

Robust Control Design Based on Perturbation Cancellation for Micro-Positioning Design with Hysteresis

by Yung-Yue Chen, Yu-Jen Lan and Yi-Qing Zhang

Actuators 2021, 10(11), 278; https://doi.org/10.3390/act10110278 - 21 Oct 2021

Cited by 2 | Viewed by 1834

Abstract

Based on the superiority of the piezoelectric elements, including lightweight, high electric mechanical transformation efficiency and a quick response time, a piezoelectric-based micro-positioning actuator is developed in this investigation. For eliminating the effects of hysteresis and modeling uncertainties that appeared in this micro-positioning [...] Read more.

Based on the superiority of the piezoelectric elements, including lightweight, high electric mechanical transformation efficiency and a quick response time, a piezoelectric-based micro-positioning actuator is developed in this investigation. For eliminating the effects of hysteresis and modeling uncertainties that appeared in this micro-positioning actuator, a nonlinear adaptive fuzzy robust control design with a perturbation cancellation ability is proposed for this micro-positioning design to achieve a positioning resolution of 1 μm. Structurally, this proposed robust control methodology contains two particular parts: a universal fuzzy approximator and a robust compensator, which are employed to cancel the modeling uncertainties caused by the perturbed parts of the micro-positioning actuator and mitigate the approximation error between the modeling uncertainties and the universal fuzzy approximator, respectively. From both the numerical simulations and real validations, this proposed micro-positioning design performs a promising positioning performance in the micrometer level. Full article

(This article belongs to the Special Issue Ferroelectric Materials and Piezoelectric Actuators)

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Actuators, Volume 10, Issue 11 (November 2021) – 29 articles

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