Simultaneous Displacement/Force Self-Sensing in Piezoelectric Actuators and Applications to Robust Control

Self-sensing technique consists of using an actuator as a sensor at the same time. This is possible for most actuators with physically reversible principle such as piezoelectric materials. The main advantages of self-sensing are: 1) the embeddability of the measurement technique, and 2) its low cost...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2015-04, Vol.20 (2), p.519-531
Main Authors: Rakotondrabe, Micky, Ivan, Ioan Alexandru, Khadraoui, Sofiane, Lutz, Philippe, Chaillet, Nicolas
Format: Article
Language:English
Subjects:
Actuators
Automatic
Displacement
Displacement and force estimation
Dynamics
Engineering Sciences
Feedback control
Force
Measurement techniques
Micromanipulation
Observers
piezoelectric actuator
Piezoelectric actuators
Piezoelectricity
Robust control
robust H_\infty control
self-sensing
Sensors
Steady-state
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Summary:Self-sensing technique consists of using an actuator as a sensor at the same time. This is possible for most actuators with physically reversible principle such as piezoelectric materials. The main advantages of self-sensing are: 1) the embeddability of the measurement technique, and 2) its low cost as no additional sensor is required. This paper presents a self-sensing technique for piezoelectric actuators used in precise positioning applications like micromanipulation and microassembly. The main novelty is that both displacement and force signals can be simultaneously estimated. This allows a feedback control using one of these two signals with a display of the other signal. To demonstrate this advantage, a robust H ∞ feedback control on displacement with real-time display of the force is used as an application of the proposed self-sensing technique. In this paper, experimental results obtained with a piezoelectric cantilever actuator validate and demonstrate the efficiency of the proposed self-sensing.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2014.2300333