1st Edition

Modeling and Control of Precision Actuators

By Tan Kok Kiong, Huang Sunan Copyright 2014
    270 Pages 171 B/W Illustrations
    by CRC Press

    270 Pages 171 B/W Illustrations
    by CRC Press

    Modeling and Control of Precision Actuators explores new technologies that can ultimately be applied in a myriad of industries. It covers dynamical analysis of precise actuators and strategies of design for various control applications. The book addresses four main schemes: modeling and control of precise actuators; nonlinear control of precise actuators, including sliding mode control and neural network feedback control; fault detection and fault-tolerant control; and advanced air bearing control. It covers application issues in the modeling and control of precise actuators, providing several interesting case studies for more application-oriented readers.

    • Introduces the driving forces behind precise actuators
    • Describes nonlinear dynamics of precise actuators and their mathematical forms, including hysteresis, creep, friction, and force ripples
    • Presents the control strategies for precise actuators based on Preisach model as well as creep dynamics
    • Develops relay feedback techniques for identifying nonlinearities such as friction and force ripples
    • Discusses a MPC approach based on piecewise affine models which emulate the frictional effects in the precise actuator
    • Covers the concepts of air bearing stages with the corresponding control method
    • Provides a set of schemes suitable for fault detection and accommodation control of mechanical systems

    Emphasizing design theory and control strategies, the book includes simulation and practical examples for each chapter; covers precise actuators such as piezo motors, coil motors, air bearing motors, and linear motors; discusses integration among different technologies; and includes three case studies in real projects. The book concludes by linking design methods and their applications, emphasizing the key issues involved and how to implement the precision motion control tasks in a practical system. It provides a concise and comprehensive source of the state-of-the-art developments and results for modeling and control of precise actuators.

    Introduction
    Growing Interest in Precise Actuators
    Types of Precise Actuators
    Applications of Precise Actuators

    Nonlinear Dynamics and Modeling
    Hysteresis
    Creep
    Friction
    Force Ripples

    Identification and Compensation of Preisach Hysteresis in Piezoelectric Actuators
    SVD-Based Identification and Compensation of Preisach Hysteresis
    High-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric Actuators
    Concluding Remarks

    Identification and Compensation of Friction and Ripple Force
    Relay Feedback Techniques for Precision Motion Control
    Identification and Compensation of Friction Model
    Modeling and Compensation of Ripples and Friction in Permanent Magnet Linear Motors

    Model Predictive Control of Precise Actuators
    Model Predictive Control Concepts for Motion Tracking
    Hybrid MPC for Ultrasonic Motors
    From Parametric MPC to PID Gain Scheduling Controllers
    Simulation Study and Experiment Results
    Concluding Remarks

    Modeling and Control of Air Bearing Stages
    Problem Statements
    Control of Linear Air Bearing Stage
    Controller Design for the System
    Experimental Results
    Control of Spherical Air Bearing Stage
    Performance Analysis of Spherical Air Bearing System
    Concluding Remarks

    Fault Detection and Accommodation in Actuators
    Problem Statements
    Types of Failure
    Fault Diagnosis Scheme
    Control of the System under No Fault Condition
    Accommodation Control After Fault Detection
    Extension to Output Feedback Control Design
    Experimental Tests
    Concluding Remarks

    Case Studies of Precise Actuator Applications
    Robust Adaptive Control of Piezoelectric Actuators with an Application to Intracytoplasmic Sperm Injection
    Control of a 2-DOF Ultrasonic Piezomotor Stage for Grommet Insertion
    Vision-Based Tracking and Thermal Monitoring of Non-Stationary Targets

    Biography

    Tan Kok Kiong, ; Sunan, Huang