Design of ultra-high-speed observer-based micro positioning systems

点击翻译按钮获取中文摘要

Motion control and sensing are the foundation for automation technologies in manufacturing, automotive, aerospace, and many other industries. Over time, performance requirements have increased and microscale applications such as atomic force microscopes (AFM) are now a topic at the forefront of motion control research. Of particular interest to my group are methods enabling the simultaneous design and optimization of mechanical layouts, electromagnetic or piezoelectric actuation components, and the associated control systems. Typically, one aims to maximize the dynamic response while minimizing energy consumption and actuator size. To increase system robustness and to minimize cost and size, observer based position and force feedback is highly desirable, but rarely implemented in practice. In micro scale positioning with a positioning range between 0.0001mm and 0.1mm, piezo-electric actuators have been the predominant actuation technology. AFMs that aim to achieve video rate scanning frequencies for in vitro sampling have pushed the performance envelope of piezo-electric actuation technologies to their physical limits. In a recent feasibility study, my group identified two potential actuator technologies that can significantly increase the speed of micro scale motion control applications: Novel piezo-electric actuator geometries and specialized electromagnetic actuators. The proposed research program will develop new design methodologies for these ultra-high-speed micro positioning technologies. These new methods will change the ways practitioners approach the problem of actuator design. My team will develop an integrated design process for mechanical layouts, actuation components, and control systems. This will not only increase the achievable actuation dynamics, but the integration of sensorless force and position feedback will allow for more cost effective, more robust, and less bulky motion control solutions than traditional actuation systems with dedicated feedback sensors. The proposed experimental prototypes focus on AFM actuation and tactile piezoelectric grippers. However, the technology can also be transferred to other applications such as automotive fuel injectors, high accuracy machining servos, sensors for structural health monitoring, or active AFMs that aim to integrate surface topology manipulation with conventional surface topology mapping. The translation of the proposed work to these applications will be explored with the help of NSERC Collaborative Research and Development Grants with Canadian industrial partners such as Westport Innovations, Bombardier, or Integrated Probe Instruments.