Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation

Yusaku Shinohara; Kenta Seki; Makoto Iwasaki; Hiroshi Chinda; Masaki Takahashi

doi:10.1109/ICMECH.2013.6519134

Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation

Yusaku Shinohara, Kenta Seki, Makoto Iwasaki, Hiroshi Chinda, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper presents a controller design approach considering vibration suppression due to input saturation for load devices. In the target load device, a pneumatic actuator and a voice coil motor are combined as a dual-stage actuator to expand the control servo bandwidth. However, vibrations due to the input saturation of the voice coil motor deteriorate the force tracking performance for the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibration, where a compensator is designed to improve the disturbance suppression at the plant resonant frequency. The proposed approach has been verified by experiments using a prototype of load device.

Original language	English
Title of host publication	2013 IEEE International Conference on Mechatronics, ICM 2013
Pages	742-747
Number of pages	6
DOIs	https://doi.org/10.1109/ICMECH.2013.6519134
Publication status	Published - 2013 Jul 1
Externally published	Yes
Event	2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy Duration: 2013 Feb 27 → 2013 Mar 1

Publication series

Name	2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other	2013 IEEE International Conference on Mechatronics, ICM 2013
Country/Territory	Italy
City	Vicenza
Period	13/2/27 → 13/3/1

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMECH.2013.6519134

Cite this

Shinohara, Y., Seki, K., Iwasaki, M., Chinda, H., & Takahashi, M. (2013). Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 742-747). [6519134] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6519134

Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation. / Shinohara, Yusaku; Seki, Kenta; Iwasaki, Makoto et al.
2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 742-747 6519134 (2013 IEEE International Conference on Mechatronics, ICM 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shinohara, Y, Seki, K, Iwasaki, M, Chinda, H & Takahashi, M 2013, Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6519134, 2013 IEEE International Conference on Mechatronics, ICM 2013, pp. 742-747, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6519134

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AB - This paper presents a controller design approach considering vibration suppression due to input saturation for load devices. In the target load device, a pneumatic actuator and a voice coil motor are combined as a dual-stage actuator to expand the control servo bandwidth. However, vibrations due to the input saturation of the voice coil motor deteriorate the force tracking performance for the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibration, where a compensator is designed to improve the disturbance suppression at the plant resonant frequency. The proposed approach has been verified by experiments using a prototype of load device.

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Controller design for dual-stage actuator-driven load devices considering suppression of vibration due to input saturation

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