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 proceedingConference contribution

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 languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages742-747
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Externally publishedYes
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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