University of Twente Student Theses


Controller tuning for disturbance suppression in a piezo damped large stroke flexure hinge

Hal, T.P.J. van (2023) Controller tuning for disturbance suppression in a piezo damped large stroke flexure hinge.

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Abstract:For flexure mechanisms the design requires compliance in the direction of manipulation but high stiffness in the remaining directions. These mechanisms generally contain very little internal damping so parasitic eigenfrequencies can become problematic for closed-loop stability. One way to overcome these problems is using piezoelectric elements to apply damping in the system. Recently, a large stroke flexure hinge has been developed at the University of Twente to demonstrate the use of piezoelectric elements in identifying the negative effects of the parasitic eigenfrequencies. This research focuses on the next step in the process; controlling the piezoelectric elements so that these negative parasitic effects are successfully damped. Typically, some form of resonance control is used, as other methods will lead to excessive spillover. For this control problem a single parasitic eigenmode of the flexure hinge is chosen. In this work, two different control methods are investigated, Positive Position Feedback (PPF) and Resonant Feedback Control (RFC), and these controllers are optimally tuned. Their performance is comparable in simulations. They are tested experimentally and the same optimally tuned PPF controller was successful in reducing the parasitic resonance for several deflections. RFC was unsuccessful as it led to an instable system.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
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