This paper describes the analysis and control of a two degree-of-freedom (DOF) monolithic piezoelectric actuator. This actuator is part of a six-DOF manipulator capable of linear resolution to 2 nm and angular resolution to 1 arc-second. Design of this actuator differs from the existing ones in that it has a monolithic structure which enables a high bandwidth, low drift, and high force realization. A number of nonlinearities exist in the actuator, stemming from the geometry and material properties. For example, coupling of the actuator elements can be modeled as a soft spring which increases displacement/drive-voltage gain (scale factor) at high actuation levels. In this work, a combination of feedforward (amplitude-dependent command prefiltering/input shaping) and feedback control are applied to reduce the effects of 1) scale factor nonlinearities; 2) hysteresis; and 3) output oscillations.

Analysis and control of monolithic piezoelectric nano-actuator

In this work, we investigate non-Hermitian elastic waveguides with periodically applied proportional feedback efforts, implemented through piezoelectric sensors and actuators. Using one-dimensional spectral models for longitudinal motion, it is shown that dispersion diagrams of this family of structures exhibit non-reciprocal imaginary frequency components, manifesting as wave attenuation or amplification along opposite directions for all pass bands. The effects of positive and negative proportional feedback, as well as local and non-local actuation are investigated. Overall, switching the sign of the feedback effort inverts the amplification direction, while increasing the degree of non-locality produces splitting of the pass bands into multiple bands with interchanging non-reciprocal behavior. Furthermore, skin modes localized at the boundaries of finite domains are investigated and successfully predicted by the winding number of the complex dispersion bands. These results contribute to recent efforts in designing metamaterials with novel properties associated with the physics of non-Hermitian systems, which may find fruitful technological applications relying on vibration and noise control, wave localization, filtering and multiplexing.

Non-Hermitian elastic waveguides with piezoelectric feedback actuation: non-reciprocal bands and skin modes

The development of control technology for large flexible structures must include practical demonstrations to aid in the understanding of controlled structures in space. To support this effort, a testbed facility has been developed to study practical implementation of new control technologies. The paper discusses the design of a second-order acceleration feedback controller that acts as an active vibration absorber. This controller provides guaranteed stability margins for collocated accelerometer/actuator pairs in the absence of accelerometer/actuator dynamics and computational time delay. Experimental results in the presence of these factors are presented and discussed. The primary performance objective considered is damping augmentation of the first nine structural modes. Comparison of experimental and predicted closed-loop damping is presented, including test and simulated-time histories for open- and closed-loop cases. Although the simulation and test results are not in full agreement, robustness of this design under model uncertainty is demonstrated. The basic advantage of this second-order controller design is that the stability of the controller is model-independent for collocated accelerometers and actuators.

Active vibration absorber for the CSI evolutionary model - Design and experimental results. [Controls Structures Interaction]

This work describes a modeling and design method whereby a piezoelectric system is formulated by two sets of second-order equations, one for the mechanical system, and the other for the electrical system, coupled through the piezoelectric effect. The solution to this electromechanical coupled system gives a physical interpretation of the piezoelectric effect as a piezoelectric transformer that is a part of the piezoelectric system, which transfers the applied mechanical force into a force-controlled current source, and short circuit mechanical compliance into capacitance. It also transfers the voltage source into a voltage-controlled relative velocity input, and free motional capacitance into mechanical compliance. The formulation and interpretation simplify the modeling of smart structures and lead to physical insight that aids the designer. Due to its physical realization, the smart structural system can be unconditional stable and effectively control responses. This new concept has been demonstrated in three numerical examples for a simple piezoelectric system.

A piezoelectric transformer

This paper describes a web-based distance experiment on the control of a two-degrees-of-freedom (DOF) monolithic piezoelectric actuator. This actuator is part of a six-DOF manipulator [1] capable of linear resolution to 2 nanometers and angular resolution to 1 arc-second [2]. The LabVIEW/DataSocket approach has been adopted in this implementation to enhance streaming of live data as well as to facilitate the interaction among the various system modules such as PC platform, digital signal processor board, client/server interface, and the nanopositioner. Besides a LabVIEW-based client program which requires the remote PC to have LabVIEW installation, a Web browser-based client plug-in has also been generated for students/users who do not have programming experience with LabVIEW. Test results for multi-client access have been very favorable. Reliable real-time control bandwidth of the two-DOF nanopositioner was detected at about 3 KHz, adequate for undergraduate control experiments. The same client/server interface can also be applied to a wide range of experiments for 24/7 and global access.

/pdf/integrating-nanotechnology-into-undergraduate-experience-a-1p71xpnmee.pdf

Integrating Nanotechnology into Undergraduate Experience: A Web-based Approach*

Embedded piezoelectric devices may be ideally suited for vibration control of space structures, which lack an inertial ground. When subjected to an input voltage, an embedded piezoelectric actuator changes its dimensions, which in turn generates a pair of forces exerted on adjacent structural members. From the direct piezoelectric effect, an embedded piezoelectric transducer generates an electric charge proportional to the structural dynamic response. In this paper, the implementation, testing and modeling of an active truss structure consisting of piezoelectric sensors and actuators are described. Linear quadratic Gaussian (LQG), second-order, and direct rate feedback control schemes are designed to suppress the vibrations of the active structure. Simulation and test results are presented. It is shown that special model reduction considerations are required to achieve good correlation between test and analysis.

Application of piezoelectric devices to vibration suppression - From modeling and controller designs to implementation

Application of piezoelectric devices to vibration suppression - Frommodeling and controller designs to implementation

For a space structure assembled from truss members, an effective way to control the structure may be to replace the regular truss elements by active members. The active members play the role of load carrying elements as well as actuators. A piezo strut, made of a stack of piezoceramics, may be an ideal active member to be integrated into a truss space structure. An electrically driven piezo strut generates a pair of forces, and is considered as a two-point actuator in contrast to a one-point actuator such as a thruster or a shaker. To achieve good structural vibration control, sensing signals compatible to the control actuators are desirable. A strain gage or a piezo film with proper signal conditioning to measure member strain or strain rate, respectively, are ideal control sensors for use with a piezo actuator. The Phase 0 CSI Evolutionary Model (CEM) at NASA Langley Research Center used cold air thrusters as actuators to control both rigid body motions and flexible body vibrations. For the Phase 1 and 2 CEM, it is proposed to use piezo struts to control the flexible modes and thrusters to control the rigid body modes. A tenbay truss structure with active piezo struts is built to study the modeling, controller designs, and experimental issues. In this paper, the tenbay structure with piezo active members is modelled using an energy method approach. Decentralized and centralized control schemes are designed and implemented, and preliminary analytical and experimental results are presented.

Piezoelectric devices for vibration suppression: Modeling and application to a truss structure

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Application of piezoelectric devices to vibration suppression - From modeling and controller designs to implementation

Application of piezoelectric devices to vibration suppression - Frommodeling and controller designs to implementation

Piezoelectric devices for vibration suppression: Modeling and application to a truss structure