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Proceedings Paper

Multi-mode vibration suppression in 2-DOF piezoelectric systems using zero placement input shaping technique
Author(s): Yasser Al Hamidi; Micky Rakotondrabe
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Paper Abstract

This paper deals with the feedforward control of the vibrations of a 2-DOF piezoelectric micropositioner in order to damp the vibrations in the direct axes and in the cross-couplings. The actuator exhibit badly damped vibrations in its direct transfers as well as in the cross-couplings transfers. We therefore propose a bivariable control which does not require sensors to reduce the vibrations in the different axes. The proposed scheme reduces all modes of vibrations for both outputs through extending the monovariable zero placement input shaping technique into bivariable. Experimental tests have been carried out and demonstrate the efficiency of the proposed method.

Paper Details

Date Published: 18 June 2015
PDF: 9 pages
Proc. SPIE 9494, Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX, 94940K (18 June 2015); doi: 10.1117/12.2185683
Show Author Affiliations
Yasser Al Hamidi, Texas A&M at Qatar (Qatar)
FEMTO-ST, CNRS, Univ. de Franche-Comté, ENSMM (France)
Micky Rakotondrabe, FEMTO-ST, CNRS, Univ. de Franche-Comté, ENSMM (France)


Published in SPIE Proceedings Vol. 9494:
Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX
Misty Blowers; Dan Popa; Muthu B. J. Wijesundara, Editor(s)

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