Simultaneous Displacement/Force Self-Sensing in Piezoelectric Actuators and Applications to Robust Control
Simultaneous Displacement/Force Self-Sensing in Piezoelectric Actuators and Applications to Robust Control
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DOI：
10.1109/tmech.2014.2300333
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发表时间：
2015-04-01
影响因子：
6.4
通讯作者：
Chaillet, Nicolas
中科院分区：
文献类型：
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作者：
Rakotondrabe, Micky;Ivan, Ioan Alexandru;Chaillet, Nicolas
自感知技术是将执行器同时用作传感器。这对于大多数具有物理可逆原理的致动器（例如压电材料）是可能的。自感测的主要优点是：1）测量技术的可嵌入性，以及2）其成本低，因为不需要额外的传感器。本文提出了一种用于精密定位应用，如微操作和微装配压电致动器的自检测技术。主要的新奇在于可以同时估计位移和力信号。这允许使用这两个信号之一的反馈控制，同时显示另一个信号。为了证明这一优势，一个强大的H ∞反馈控制位移与实时显示的力被用作所提出的自检测技术的应用。在本文中，压电悬臂梁驱动器的实验结果验证和证明所提出的自检测的效率。
Self-sensing technique consists of using an actuator as a sensor at the same time. This is possible for most actuators with physically reversible principle such as piezoelectricmaterials. The main advantages of self-sensing are: 1) the embeddability of the measurement technique, and 2) its low cost as no additional sensor is required. This paper presents a self-sensing technique for piezoelectric actuators used in precise positioning applications like micromanipulation and microassembly. The main novelty is that both displacement and force signals can be simultaneously estimated. This allows a feedback control using one of these two signals with a display of the other signal. To demonstrate this advantage, a robust H-infinity feedback control on displacement with real-time display of the force is used as an application of the proposed self-sensing technique. In this paper, experimental results obtained with a piezoelectric cantilever actuator validate and demonstrate the efficiency of the proposed self-sensing.