PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning

Fast and accurate tracking of periodic reference trajectories is highly desirable in many nanopositioning applications, including scanning probe microscopy. Performance in common positioning stage designs is limited by the presence of lightly damped resonances, and actuator nonlinearities such as hysteresis and creep. To improve the tracking performance in such systems, several damping and tracking control schemes have been presented in the literature. In this paper, five different control schemes are presented and applied to a nanopositioning system for experimental comparison. They include schemes applying damping control in the form of positive position feedback, integral resonant control, integral force feedback, and passive shunt-damping. Also, a control scheme requiring only a combination of a low-pass filter and an integrator is presented. The control schemes are fixed-structure, low-order control laws, for which few results exist in the literature with regards to optimal tuning. A practical tuning procedure for obtaining good tracking performance for all of the presented control schemes is therefore presented. The schemes provide similar performance, and the main differences are due to the specific implementation of each scheme.

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“…The resulting control structure is shown in Fig. 8, and corresponds to the scheme presented in Eielsen et al (2011).…”

Section: Damping Integral Control (Di)mentioning

confidence: 99%

“…A control scheme based on the work in Eielsen et al (2011) is also presented, and the tuning methodology therein is generalized and also applied to the presented control schemes based on PPF, IRC, IFF, and PSD. IRC has been applied in Fleming et al (2010), andIFF in Fleming (2010).…”

Section: Contributionsmentioning

confidence: 99%

Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning

Eielsen

Vagia

Gravdahl

et al. 2013

IFAC Proceedings Volumes

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“…The procedure for obtaining the optimal tuning of the PI controller follows the work in [14]. First, consider an integral controller C I (s) = k i 1 s applied to (3).…”

Section: Proportional Integral Controller Tuningmentioning

confidence: 99%

“…Particularly, sharp resonance peaks can degrade performance and even make creating a stable RC system difficult. To provide more feasible system dynamics, a damping PI controller is proposed and combined with RC to minimize the effect of the highly resonant dynamics of the nanopositioning stage [14]. A novel tuning procedure is proposed to optimally tune the PI controller for robustness and good tracking performance.…”

Section: Introductionmentioning

confidence: 99%

Robust damping PI repetitive control for nanopositioning

Eielsen

Gravdahl

Leang

2012

2012 American Control Conference (ACC)

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Abstract-In many applications of nanopositioning, such as scanning probe microscopy, tracking fast periodic reference trajectories with high accuracy is highly desirable. Repetitive control (RC) is a simple and effective scheme to obtain good tracking of such reference trajectories. However, the highly resonant dynamics of the positioning stage combined with hysteresis and creep behavior in the piezoelectric actuator can degrade performance and even make creating a stable RC system difficult. In this paper, a damping proportionalintegral (PI) controller is combined with a repetitive controller for robustness and high performance. Compared to a regular PI controller, the modified PI controller introduces damping, increases the bandwidth, and reduces the overall noise level due to feedback. Also, due to the integral action, the hysteresis and creep nonlinearities inherent in the piezoelectric actuator is minimized. A novel method for tuning the PI controller is proposed. The control approach is applied to a customdesign flexure-guided nanopositioning system with a dominant resonance of approximately 725 Hz. Experimental results demonstrate the effectiveness of the overall control scheme, and the maximum tracking error for scanning at 100 Hz and 400 Hz is measured at 0.27% and 2.7%, respectively, of the total positioning range.

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“…Therefore the compensated motor-gimbal transfer function of (9) is the system plant for the angle controller design. Although there are many methods of designing LOS angle controllers [10][11][12][13][14], the method performed in this design is explained as follows.…”

Section: Angle Controller Designmentioning

confidence: 99%

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

Jia

Nandikolla

Haggart

et al. 2017

Journal of Nonlinear Dynamics

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The research work evaluates the quality of the sensor to perform measurements and documents its effects on the performance of the system. It also evaluates if this performance changes due to the environments and other system parameters. These environments and parameters include vibration, system friction, structural resonance, and dynamic system input. The analysis is done by modeling a gimbal camera system that requires angular measurements from inertial sensors and gyros for stabilization. Overall, modeling includes models for four different types of gyros, the gimbal camera system, the drive motor, the motor rate control system, and the angle position control system. Models for friction, structural resonance, and vibration are analyzed, respectively. The system is simulated, for an ideal system, and then includes the more realistic environmental and system parameters. These simulations are run with each of the four types of gyros. The performance analysis depicts that for the ideal system; increasing gyro quality provides better system performance. However, when environmental and system parameters are introduced, this is no longer the case. There are even cases when lower quality sensors provide better performance than higher quality sensors.

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PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning

Cited by 12 publications

References 2 publications

Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning

Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning

Robust damping PI repetitive control for nanopositioning

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

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