1 research outputs found
Commutation-Angle Iterative Learning Control for Intermittent Data: Enhancing Piezo-Stepper Actuator Waveforms
Piezo-stepper actuators are used in many nanopositioning systems due to their
high resolution, high stiffness, fast response, and the ability to position a
mover over an infinite stroke by means of motion reminiscent of walking. The
aim of this paper is to develop a control approach for attenuating disturbances
that are caused by the walking motion and are therefore repeating in the
commutation-angle domain. A new iterative learning control approach is
developed for the commutation-angle domain, that addresses the
iteration-varying and non-equidistant sampling that occurs when the
piezo-stepper actuator is driven at varying drive frequencies by parameterizing
the input and error signals. Experimental validation of the framework on a
piezo-stepper actuator leads to significant performance improvements.Comment: 6 pages, 8 figures, 21st IFAC World Congress 202