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Research Papers

Modeling and Control of a Magnetostrictive Tool Servo System

[+] Author and Article Information
Witoon Panusittikorn, Paul I. Ro

Department of Mechanical and Aerospace Engineering, Precision Engineering Center, North Carolina State University, Raleigh, NC 27695

J. Dyn. Sys., Meas., Control 130(3), 031003 (Apr 09, 2008) (11 pages) doi:10.1115/1.2837432 History: Received November 20, 2003; Revised September 07, 2007; Published April 09, 2008

A magnetostrictive actuator offers a long mechanical strain output in a broad bandwidth at a cost of a highly nonlinear magnetic hysteresis. Full utilization of this actuator in precision manufacturing requires a feedback loop as well as an advanced control scheme. A robust control scheme using sliding mode control with a variable switching gain was tailored to the nonlinear transducer. Nominal feedforward current controller that drives the magnetostriction was based on the inverse anhysteresis model. An additional switching gain based on the Lyapunov stability condition is implemented to restrain uncertainties. Compared to a traditional closed-loop control design, the proposed algorithm experimentally showed a greatly enhanced performance.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Hysteresis in the relationship between input current and strain

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Figure 2

Component of a magnetostrictive transducer

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Figure 3

Diagram of magnetization in a magnetostrictive core

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Figure 4

Profile of magnetization with bias magnetization and preload

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Figure 5

Comparisons between actual and estimated elongation evolutions at 10Hz

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Figure 6

The effect of tool fixture dynamics at various frequencies

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Figure 7

Anhysteretic and hysteretic forces profile at 10Hz

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Figure 8

Bounded evolving hysteretic force

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Figure 9

Comparison between actual current and simulated equivalent control

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Figure 10

Closed-loop magnetostrictive transducer

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Figure 11

Comparisons of performance between simulated PID and SMC

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Figure 12

PID controller for a combination of a 30μm, 100Hz and a 20μm, 2Hz.

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Figure 13

SMC for a combination of a 30μm, 100Hz and a 20μm, 2Hz.

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Figure 14

PID controller for 50μm, 50Hz sine wave with additional 5kg mass

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Figure 15

SMC controller for 50μm, 50Hz sine wave with additional 5kg mass

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