Single-axis simulation of state-feedback controller with bang-bang control for inchworm mobile mechanism

Fumiya Shono, Noriyuki Mouri, Takehiro Higuchi, Ohmi Fuchiwaki

  • 1 Citations

Abstract

In this paper, we describe the design of a precise 3-axial servo controller for an inchworm mobile mechanism and the simulation result of 1-axial control for validating the design. The inchworm mobile mechanism is composed of 6 piezoelectric actuators (PAs) and a pair of electromagnets (EMs). If one EM is fixed to a ferromagnetic floor, then another EM can position the X, Y, and Θ axes by 6 PAs. In a previous study, we have developed 3-axial proportional-integral-derivative (PID) controls with a 50 nm resolution for the mechanism with 4 linear encoders to measure the 3DoF motion of the free magnet precisely, however, we concluded that we require over 100 ms of settling time because of mutual coupling effects among the X, Y, and θ axes when using the PID controller. To be robust against the disturbance and also reduce settling time, we developed a new servo controller in this study. To achieve sufficient working efficiency, we aimed at establishing of 3-axial servo control on the nanometer scale that can realize a ±0.5 μm positioning repeatability, and less than 10 ms of settling time over a 50 μm×50 μm positioning range.

Original languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages247-252
Number of pages6
ISBN (Print)9781467372428
DOIs
StatePublished - 2016 Feb 10
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period15/12/1115/12/13

Fingerprint

Controllers
Electromagnets
Piezoelectric actuators
Derivatives
State feedback
Magnets

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Shono, F., Mouri, N., Higuchi, T., & Fuchiwaki, O. (2016). Single-axis simulation of state-feedback controller with bang-bang control for inchworm mobile mechanism. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015. (pp. 247-252). [7404986] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/SII.2015.7404986

Single-axis simulation of state-feedback controller with bang-bang control for inchworm mobile mechanism. / Shono, Fumiya; Mouri, Noriyuki; Higuchi, Takehiro; Fuchiwaki, Ohmi.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 247-252 7404986.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shono, F, Mouri, N, Higuchi, T & Fuchiwaki, O 2016, Single-axis simulation of state-feedback controller with bang-bang control for inchworm mobile mechanism. in 2015 IEEE/SICE International Symposium on System Integration, SII 2015., 7404986, Institute of Electrical and Electronics Engineers Inc., pp. 247-252, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 11-13 December. DOI: 10.1109/SII.2015.7404986
Shono F, Mouri N, Higuchi T, Fuchiwaki O. Single-axis simulation of state-feedback controller with bang-bang control for inchworm mobile mechanism. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc.2016. p. 247-252. 7404986. Available from, DOI: 10.1109/SII.2015.7404986

Shono, Fumiya; Mouri, Noriyuki; Higuchi, Takehiro; Fuchiwaki, Ohmi / Single-axis simulation of state-feedback controller with bang-bang control for inchworm mobile mechanism.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 247-252 7404986.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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