Parametric system-level models for position-control of novel electromagnetic free flight microactuator

Schütz, Arwed; Olbrich, Michael; Hu, Shan; Ament, Christoph; Bechtold, Tamara

doi:10.1016/j.microrel.2021.114062

Cited by 12 publications

(10 citation statements)

References 18 publications

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“…As a result, the grouping-induced error is reduced compared to [40]. The final ROM complements preceding work on the electromagnetic catch-actuator [23,24] and enables system-level simulation of the entire actuator system.…”

Section: Introductionmentioning

confidence: 74%

“…MOR generates system-level models deployed in a full system-level simulation. The catch-actuator has been the subject of earlier work [23,24]. Corresponding paragraphs will, therefore, be confined to summaries and updates.…”

Section: Methodsmentioning

confidence: 99%

“…The kick and catch research project [21] aims to extend this innovative system by more sophisticated actuators and highly accurate models, enabling model-based closed-loop control [22][23][24]. In this approach, a cooperation of a kick-actuator and a catch-actuator achieves multistable motion of the hemisphere.…”

Section: Introductionmentioning

confidence: 99%

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System-Level Modelling and Simulation of a Multiphysical Kick and Catch Actuator System

2021

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This paper presents a system-level model of a microsystem architecture deploying cooperating microactuators. An assembly of a piezoelectric kick-actuator and an electromagnetic catch-actuator manipulates a structurally unconnected, magnetized micromirror. The absence of mechanical connections allows for large deflections and multistability. Closed-loop feedback control allows this setup to achieve high accuracy, but requires fast and precise system-level models of each component. Such models can be generated directly from large-scale finite element (FE) models via mathematical methods of model order reduction (MOR). A special challenge lies in reducing a nonlinear multiphysical FE model of a piezoelectric kick-actuator and its mechanical contact to a micromirror, which is modeled as a rigid body. We propose to separate the actuator–micromirror system into two single-body systems. This step allows us to apply the contact-induced forces as inputs to each sub-system and, thus, avoid the nonlinear FE model. Rather, we have the linear model with nonlinear input, to which established linear MOR methods can be applied. Comparisons between the reference FE model and the reduced order model demonstrate the feasibility of the proposed methodology. Finally, a system-level simulation of the whole assembly, including two actuators, a micromirror and a simple control circuitry, is presented.

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Section: Introductionmentioning

confidence: 74%

Section: Methodsmentioning

confidence: 99%

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System-Level Modelling and Simulation of a Multiphysical Kick and Catch Actuator System

2021

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“…The order of magnitude of the input voltage is effectively reduced, which improves the stability and power transfer of the system. Arwed et al [68] developed a novel electromagnetic-free flight micro-actuator position control system stage model shown in Figure 6. They developed an innovative design of a free-moving actuator and designed a PD controller for reflector position feedback control.…”

Section: Electromagneticmentioning

confidence: 99%

A Review of End-Effector Research Based on Compliance Control

Dai

Xiang

et al. 2022

Machines

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The end-effector is a key device for direct contact and operation between the operator and the workpiece, and its mechanical structure will directly affect the quality of the machine and expand its application. The theoretical research and technical implementation of the end-effector for compliance control are facing a lot of urgent challenges to be solved, therefore, the research results of active compliance control of robot end-effectors have a very broad application prospect. This paper describes the design and research results of different end-effectors under impedance-based control, hybrid force/position control, and intelligent flexible control methods, respectively. Under each control method, the structural characteristics and the optimized control scheme under different drives are introduced. Finally, key techniques for achieving compliance control are derived by summarizing, which broadens the engineering applications and provides methods and ideas for future research.

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“…In order to allow a flexible application in both the horizontal and vertical directions, we previously presented a magnetic actuator moving a cylindrical permanent magnet with one DoF [15]. To this end, finite element models (FEM) were used to calculate the magnetic forces, and their complexity was reduced by different approaches, i.e., a lookuptable, a semi-analytical compact model, and a parametric reduced order model [16,17]. These methods were then compared in terms of simulation time and accuracy, and their usefulness for a controller design was demonstrated.…”

Section: Introductionmentioning

confidence: 99%

Design and Optimal Control of a Multistable, Cooperative Microactuator

et al. 2021

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In order to satisfy the demand for the high functionality of future microdevices, research on new concepts for multistable microactuators with enlarged working ranges becomes increasingly important. A challenge for the design of such actuators lies in overcoming the mechanical connections of the moved object, which limit its deflection angle or traveling distance. Although numerous approaches have already been proposed to solve this issue, only a few have considered multiple asymptotically stable resting positions. In order to fill this gap, we present a microactuator that allows large vertical displacements of a freely moving permanent magnet on a millimeter-scale. Multiple stable equilibria are generated at predefined positions by superimposing permanent magnetic fields, thus removing the need for constant energy input. In order to achieve fast object movements with low solenoid currents, we apply a combination of piezoelectric and electromagnetic actuation, which work as cooperative manipulators. Optimal trajectory planning and flatness-based control ensure time- and energy-efficient motion while being able to compensate for disturbances. We demonstrate the advantage of the proposed actuator in terms of its expandability and show the effectiveness of the controller with regard to the initial state uncertainty.

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Parametric system-level models for position-control of novel electromagnetic free flight microactuator

Cited by 12 publications

References 18 publications

System-Level Modelling and Simulation of a Multiphysical Kick and Catch Actuator System

System-Level Modelling and Simulation of a Multiphysical Kick and Catch Actuator System

A Review of End-Effector Research Based on Compliance Control

Design and Optimal Control of a Multistable, Cooperative Microactuator

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