1st Edition

Modeling and Control of Precision Actuators





ISBN 9781138072473
Published October 12, 2017 by CRC Press
270 Pages 171 B/W Illustrations

USD $84.95

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Book Description

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

Introduction
Growing Interest in Precise Actuators
Types of Precise Actuators
Applications of Precise Actuators

Nonlinear Dynamics and Modeling
Hysteresis
Creep
Friction
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

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