Modeling and Control of Precision Actuators: 1st Edition (Paperback) book cover

Modeling and Control of Precision Actuators

1st Edition

By Tan Kok Kiong, Huang Sunan

CRC Press

270 pages | 171 B/W Illus.

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Modeling and Control of Precision Actuators explores new technologies that can ultimately be applied in a myriad of industries. It covers dynamical analysis of precise actuators and strategies of design for various control applications. The book addresses four main schemes: modeling and control of precise actuators; nonlinear control of precise actuators, including sliding mode control and neural network feedback control; fault detection and fault-tolerant control; and advanced air bearing control. It covers application issues in the modeling and control of precise actuators, providing several interesting case studies for more application-oriented readers.

  • Introduces the driving forces behind precise actuators
  • Describes nonlinear dynamics of precise actuators and their mathematical forms, including hysteresis, creep, friction, and force ripples
  • Presents the control strategies for precise actuators based on Preisach model as well as creep dynamics
  • Develops relay feedback techniques for identifying nonlinearities such as friction and force ripples
  • Discusses a MPC approach based on piecewise affine models which emulate the frictional effects in the precise actuator
  • Covers the concepts of air bearing stages with the corresponding control method
  • Provides a set of schemes suitable for fault detection and accommodation control of mechanical systems

Emphasizing design theory and control strategies, the book includes simulation and practical examples for each chapter; covers precise actuators such as piezo motors, coil motors, air bearing motors, and linear motors; discusses integration among different technologies; and includes three case studies in real projects. The book concludes by linking design methods and their applications, emphasizing the key issues involved and how to implement the precision motion control tasks in a practical system. It provides a concise and comprehensive source of the state-of-the-art developments and results for modeling and control of precise actuators.

Table of Contents


Growing Interest in Precise Actuators

Types of Precise Actuators

Applications of Precise Actuators

Nonlinear Dynamics and Modeling




Force Ripples

Identification and Compensation of Preisach Hysteresis in Piezoelectric Actuators

SVD-Based Identification and Compensation of Preisach Hysteresis

High-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric Actuators

Concluding Remarks

Identification and Compensation of Friction and Ripple Force

Relay Feedback Techniques for Precision Motion Control

Identification and Compensation of Friction Model

Modeling and Compensation of Ripples and Friction in Permanent Magnet Linear Motors

Model Predictive Control of Precise Actuators

Model Predictive Control Concepts for Motion Tracking

Hybrid MPC for Ultrasonic Motors

From Parametric MPC to PID Gain Scheduling Controllers

Simulation Study and Experiment Results

Concluding Remarks

Modeling and Control of Air Bearing Stages

Problem Statements

Control of Linear Air Bearing Stage

Controller Design for the System

Experimental Results

Control of Spherical Air Bearing Stage

Performance Analysis of Spherical Air Bearing System

Concluding Remarks

Fault Detection and Accommodation in Actuators

Problem Statements

Types of Failure

Fault Diagnosis Scheme

Control of the System under No Fault Condition

Accommodation Control After Fault Detection

Extension to Output Feedback Control Design

Experimental Tests

Concluding Remarks

Case Studies of Precise Actuator Applications

Robust Adaptive Control of Piezoelectric Actuators with an Application to Intracytoplasmic Sperm Injection

Control of a 2-DOF Ultrasonic Piezomotor Stage for Grommet Insertion

Vision-Based Tracking and Thermal Monitoring of Non-Stationary Targets

Subject Categories

BISAC Subject Codes/Headings:
SCIENCE / Mechanics / General
TECHNOLOGY & ENGINEERING / Electronics / Circuits / General