University of Twente Student Theses
Frequency Domain Optimization of the Tracking Performance of a Piezo Actuator Using Reset Control
Hakvoort, M.H. (2023) Frequency Domain Optimization of the Tracking Performance of a Piezo Actuator Using Reset Control.
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| Full Text Status: | Access to this publication is restricted |
| Embargo date: | 6 September 2028 |
| Abstract: | Piezo positioning systems are often used in applications where fast and precise movements are re- quired. Current demands go towards higher closed loop bandwidths as well as increased precision. The maximum achievable closed loop bandwidths of these systems are often limited by one or multi- ple poorly damped resonant frequencies. The standard method used at Physik Instrumente to dampen these resonant frequencies is based on one or multiple notch filters. However, the problem of these filters is that they introduce a significant amount of phase lag which sets another limitation on the achievable bandwidth of the system. Recent work has shown that reset control could be used to im- prove the stability related to the transient response of the system while maintaining a similar steady- state tracking performance compared to the linear control structure. Given the current requests of higher bandwidths and improved accuracy, the main goal of this thesis was to use reset control to improve the tracking performance of the system while maintaining similar stability margins. Since previous work has pointed out an excitation of the resonance frequencies of the system caused by the reset instants of one of the reset elements investigated, a Positive Position Feedback damping control structure has been used instead of the notch filters. The controllers have been optimized in the frequency domain using a Particle Swarm Optimization algorithm. It has been shown that the Describing Function of the reset control systems can deliver an accurate estimation of the frequency response when properly tuning and adjusting the reset controller parameters. The optimizations have been performed on a simplified system model and later on an identified model which has then been evaluated on one of Physik Instrumente’s positioning systems. The results have shown that the closed loop bandwidths of the reset control systems as well as the steady-state tracking performance could be significantly improved compared to the linear control structures. The excitation of the resonance frequencies due to the reset instants have been eliminated by the Positive Position Feedback control structure. This active damping control method also improved the closed loop bandwidth and steady-state performance of the linear control system compared to the notch filter approach due to its improved robustness properties. Since the transient response of the optimized reset control systems has not always been as desired, an additional feedforward control structure has been implemented which has shown some initial promising results. Another problem pointed out in previous work with one of the reset control structures was an increased sensitivity at low frequencies. The cause of this increase has been investigated and could be solved by using an additional lowpass filter in the trigger signal of the reset element. |
| Item Type: | Essay (Master) |
| Clients: | TU Delft, Delft, Netherlands Physik Instrumente GmbH &. Co. KG., Karlsruhe, Germany |
| Faculty: | ET: Engineering Technology |
| Subject: | 52 mechanical engineering |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/97613 |
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