Dynamic model of a PAD actuator : dynamic operations and pull-off at high speed

The PAD motor has remarkable abilities for ultra-precise positioning at very low speed. Recent works have shown the possibility to extend its speed range, but some challengess remain such as pull-off. This paper proposes a model that highlights the parameters of the voltage supply that act on the torque and the contact, and can be used for control. Experimental results demonstrate the role of higher vibration modes, and show that typical signature of the imminence of pull-off can be detected thanks to some of the harmonic of the displacement of the actuators, giving some indications on means to address this problem.