仮想ブリッジ回路に基づくセルフセンシング・アクチュエータを用いたはりの軌跡制御

概要

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The self-sensing actuator (SSA) is a new concept for intelligent material, where a single piezoelectric element simultaneously functions as both a sensor and an actuator. In the previous paper, we succeeded in suppressing the vibration of a flexible cantilever beam using SSA. In this paper, as the next stage of SSA, we tracking control of the flexible structure. It is essential for selfsensing actuation to balance the electric bridge circuit that provides sensor information. However, it is difficult to balance the circuit due to both the uncertainty of the capacitance of piezo-element and the use of the standard electric parts. So we propose the virtual bridge circuit (VBC) that goes without the complete bridge from the standpoint of excluding the mistuning of the circuit. VBC simplifies the annoying hardware tuning into the facile software adjustment of a gain. SSA based on VBC enable the tip of a cantilever beam to follow up several specified trajectories.
一般社団法人日本機械学会の論文
1998-08-25