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Technical Briefs

Minimum-Time/Energy, Output Transitions for Dual-Stage Systems

[+] Author and Article Information
Dhanakorn Iamratanakul

 Western Digital, 20511 Lake Forest Drive, Lake Forest, CA 92630-7741dhanakorn.iamratanakul@wdc.com

Santosh Devasia1

Department of Mechanical Engineering, University of Washington, Seattle, WA 98195devasia@u.washington.edu

1

Corresponding author.

J. Dyn. Sys., Meas., Control 131(2), 024503 (Feb 05, 2009) (8 pages) doi:10.1115/1.3072153 History: Received January 08, 2008; Revised December 01, 2008; Published February 05, 2009

This article addresses the optimal (minimum-time/energy) trajectory design for changing the output from one value y̱ to another y¯ within a finite time interval [0,tf] called the output-transition time interval. The output should be maintained constant (at the desired value) outside the output-transition time interval. The main contribution of this article is to establish the existence of a solution to the problem when preactuation (input applied during time t<0) and postactuation (input applied during time t>tf) are allowed. The advantage of using pre- and postactuation inputs is illustrated with an experimental dual-stage actuator system.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

Schematic of transition-time cost γtf, energy cost JE,opt, and total time/energy cost Ĵ(tf) as functions of transition time tf

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Figure 2

The dual-stage actuator system

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Figure 3

Comparison of time/input-energy cost: OOT versus SST

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Figure 4

Experimental results for 2.5 μm output-transition

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