セルフセンシングを用いた高分子圧電アクチュエータの先端位置制御

概要

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Positioning control of a self sensing micro PVDF (Poly Vinylindene Flouride) actuator is presented. A feedback control law of the positioning control of the PVDF actuator is derived by considering the time rate of change of the total energy of the system. In a practical implementation of the self-sensing actuator an electrical bridge circuit is used to measure time rate of tip bending angle of the actuator. The choice feedback gains needs to be addressed. They can be chosen to improve the damping in any subset of critical vibration modes with the knowledge that the controller will not destabilize any part of the system. However, the actuator pole locations of closed-loop system will have to be determined from a rather large symmetric eigenvalue calculation. Overcoming this difficalties, we present a 2 d. o. f (two-degree-of-freedom) control system consists of feedforward and feedback controller. Feedforward controller is designed using inverse system which is one of the input command shaping methods. Numerical simulation and experimental results confirm that faster precise positioning control can be realized with the proposed control system.
一般社団法人日本機械学会の論文
1998-04-25