Design and Optimal Control of a Multistable, Cooperative Microactuator
| Autor: | Christoph Ament, Tamara Bechtold, Michael Olbrich, Arwed Schütz |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
TK1001-1841
Control and Optimization Computer science Solenoid 02 engineering and technology 01 natural sciences Microactuator Production of electric energy or power. Powerplants. Central stations Control theory Stability theory multistability 0103 physical sciences Materials of engineering and construction. Mechanics of materials Magnetic levitation Multistability 010302 applied physics magnetic levitation 021001 nanoscience & nanotechnology Optimal control feedback control Control and Systems Engineering cooperative microactuator TA401-492 ddc:004 0210 nano-technology Actuator |
| Zdroj: | Actuators Volume 10 Issue 8 Actuators, Vol 10, Iss 183, p 183 (2021) |
| ISSN: | 2076-0825 |
| DOI: | 10.3390/act10080183 |
| Popis: | In order to satisfy the demand for the high functionality of future microdevices, research on new concepts for multistable microactuators with enlarged working ranges becomes increasingly important. A challenge for the design of such actuators lies in overcoming the mechanical connections of the moved object, which limit its deflection angle or traveling distance. Although numerous approaches have already been proposed to solve this issue, only a few have considered multiple asymptotically stable resting positions. In order to fill this gap, we present a microactuator that allows large vertical displacements of a freely moving permanent magnet on a millimeter-scale. Multiple stable equilibria are generated at predefined positions by superimposing permanent magnetic fields, thus removing the need for constant energy input. In order to achieve fast object movements with low solenoid currents, we apply a combination of piezoelectric and electromagnetic actuation, which work as cooperative manipulators. Optimal trajectory planning and flatness-based control ensure time- and energy-efficient motion while being able to compensate for disturbances. We demonstrate the advantage of the proposed actuator in terms of its expandability and show the effectiveness of the controller with regard to the initial state uncertainty. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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