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

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

研究成果: Article査読

抄録

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 servo bandwidth. However, since vibrations are excited by the input saturation in the voice coil motor, the vibrations deteriorate the force tracking performance for the desired load reference. In this research, therefore, a loop-shaping approach is adopted to suppress the vibrations, where a compensator is designed to improve the disturbance suppression performance at the resonant frequency of plant. The proposed approach has been verified by experiments using a prototype of load device.

本文言語English
ページ(範囲)1883-1892
ページ数10
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
79
802
DOI
出版ステータスPublished - 2013 7月 15
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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