A modified positive velocity and position feedback scheme with delay compensation for improved nanopositioning performance

San-Millan, Andres; Russell, Douglas; Feliú, V.; Aphale, Sumeet S.

doi:10.1088/0964-1726/24/7/075021

Cited by 25 publications

(16 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Since the IRC and PPF controllers can only be designed for systems without delay, g 1 (s, 0) was the system to be controlled, and the closed-loop poles were placed in a Butterworth filter pattern with radius R = ω 1 as in [38]. In the case of the PVPF controller, the methodology of [26] was utilized, and the plant was therefore considered by including the actual delay of the system (g 1 (s, τ)). In this case, the closedloop poles were also placed in a Butterworth filter pattern with radius R = ω 1 .…”

Section: Resultsmentioning

confidence: 99%

“…The relationship seen between the delay and half the sampling time T s has been predicted theoretically in [28,29]. Moreover, the details concerning the identification of the constant term of expression (3), τ Fix , can be found in [26]. This yielded a value of τ Fix = 90 × 10 −6 s. Substituting this value and the sampling period T s = 30 × 10 −6 s in the axis model expression 3gives a time-delay τ = 105 × 10 −6 s. The identified transfer function is therefore:…”

Section: Identification Of the Experimental Platformmentioning

confidence: 95%

“…It is important to note that in the case of high-bandwidth nanopositioners, the presence of any time delay has an important effect on the stability margins of the closedloop system and on the performance of the controlled system if the controller is designed based on a model that omits the delay. To the best of our knowledge, only [26] proposes a design methodology that designs a control scheme (PPF controller) for nanopositioners, incorporating this time delay.…”

Section: Introductionmentioning

confidence: 99%

“…PVPF can be treated as a particular case of 2DOF-PID controller as demonstrated in [26]. Therefore, the control design proposed in this paper is termed the 2DOF-PI 2 D controller because it modifies the transfer function of the block which acts on the tracking error signal by adding a second integral action.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Two-degrees-of-freedom PI2D controller for precise nanopositioning in the presence of hardware-induced constant time delay

2019

Self Cite

View full text Add to dashboard Cite

The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanical displacements at these nanometer scales are required. The performance of these nanopositioners is limited by the presence of lightly damped resonances in their dynamic response and actuator nonlinearities. Closed-loop control techniques incorporating both damping and tracking are typically used to address these limitations. However, most tracking schemes employed use a first-order integrator where a triangular trajectory commonly used in nanopositioning applications necessitates a double integral for zero-error tracking. The phase margin of the damped system combined with the hardware-induced delay deem the implementation of a double-integrator unstable. To overcome this limitation, this paper presents the design, analysis and application of a new control scheme based on the structure of the traditional Two-Degrees-of-Freedom PID controller (2DOF-PID). The proposed controller replaces the integral action of the traditional 2DOF-PID with a double integral action (2DOF-PI 2 D). Despite its simplicity, the proposed controller delivers superior tracking performance compared to traditional combined damping and tracking control schemes based on well-reported designs such as positive position feedback (PPF), Integral resonant control (IRC), and Positive Velocity and Position Feedback (PVPF). The stability of the control system is analyzed in the presence of a time delay in the system. Experimental results validating the efficacy of the proposed chattering-free control of a piezo-driven nanopositioning system are included.

show abstract

Section: Resultsmentioning

confidence: 99%

Section: Identification Of the Experimental Platformmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Two-degrees-of-freedom PI2D controller for precise nanopositioning in the presence of hardware-induced constant time delay

2019

Self Cite

View full text Add to dashboard Cite

show abstract

“…This leads to a very small closed-loop positioning bandwidth, usually close to the half of the resonant frequency of the uncontrolled open loop system, [13]. The presence of a pure-time delay in the system that creeps in due to the hardware utilized in the actual control implementation modifies the position of the closed loop poles, further limiting the achievable bandwidth, [14]. Yet, due to the many advantages and simplicity of the IRC scheme, it is desirable to find a way to expand the achievable bandwidth of this control scheme and at the same time keep the in-bandwidth closed-loop response as flat as possible.…”

Section: Introductionmentioning

confidence: 99%

Fractional order implementation of Integral Resonant Control – A nanopositioning application

San-Millan¹,

Feliu-Batlle

Aphale

2018

ISA Transactions

Self Cite

View full text Add to dashboard Cite

By exploiting the co-located sensor-actuator arrangement in typical flexure-based piezoelectric stack actuated nanopositioners, the polezero interlacing exhibited by their axial frequency response can be transformed to a zero-pole interlacing by adding a constant feed-through term. The Integral Resonant Control (IRC) utilizes this unique property to add substantial damping to the dominant resonant mode by the use of a simple integrator implemented in closed loop. IRC used in conjunction with an integral tracking scheme, effectively reduces positioning errors introduced by modelling inaccuracies or parameter uncertainties. Over the past few years, successful application of the IRC control technique to nanopositioning systems has demonstrated performance robustness, easy tunability and versatility. The main drawback has been the relatively small positioning bandwidth achievable. This paper proposes a fractional order implementation of the classical integral tracking scheme employed in tandem with the IRC scheme to deliver damping and tracking. The fractional order integrator introduces an additional design parameter which allows desired pole-placement, resulting in superior closed loop bandwidth. Simulations and experimental results are presented to validate the theory. A 250% improvement in the achievable positioning bandwidth is observed with proposed fractional order scheme.

show abstract

Multilevel Inverter-Based Power Quality Improvement in Grid-Connected DVR System

Rao

Raju

2021

Micro-Electronics and Telecommunication Engineering

View full text Add to dashboard Cite

A modified positive velocity and position feedback scheme with delay compensation for improved nanopositioning performance

Cited by 25 publications

References 34 publications

Two-degrees-of-freedom PI2D controller for precise nanopositioning in the presence of hardware-induced constant time delay

Two-degrees-of-freedom PI2D controller for precise nanopositioning in the presence of hardware-induced constant time delay

Fractional order implementation of Integral Resonant Control – A nanopositioning application

Multilevel Inverter-Based Power Quality Improvement in Grid-Connected DVR System

Contact Info

Product

Resources

About