Commutation-Angle Iterative Learning Control for Intermittent Data: Enhancing Piezo-Stepper Actuator Waveforms
Abstract
Piezo-stepper actuators are used in many nanopositioning systems due to their high resolution, high stiffness, fast response, and the ability to position a mover over an infinite stroke by means of motion reminiscent of walking. The aim of this paper is to develop a control approach for attenuating disturbances that are caused by the walking motion and are therefore repeating in the commutation-angle domain. A new iterative learning control approach is developed for the commutation-angle domain, that addresses the iteration-varying and non-equidistant sampling that occurs when the piezo-stepper actuator is driven at varying drive frequencies by parameterizing the input and error signals. Experimental validation of the framework on a piezo-stepper actuator leads to significant performance improvements.
Cite
@article{arxiv.2006.13572,
title = {Commutation-Angle Iterative Learning Control for Intermittent Data: Enhancing Piezo-Stepper Actuator Waveforms},
author = {Leontine Aarnoudse and Nard Strijbosch and Edwin Verschueren and Tom Oomen},
journal= {arXiv preprint arXiv:2006.13572},
year = {2020}
}
Comments
6 pages, 8 figures, 21st IFAC World Congress 2020