Design and control of a novel miniature linear actuator
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An integrated and miniature linear actuator has been developed. Miniature BLDCM and rotation-linear translating mechanism are integrated into the actuator, in which the linear position, rotation position and limited position can be measured. The actuator has small size (Φ19×33 mm) and big output force (100 N). In this paper,a control system hardware of the actuator is built based on DS1103 control board, and the trajectory tracking of the actuator is realized based on PID control by using multiple sensors. The actuator and its control system have been successfully used in HIT dexterous robot hand.Keywords:
Rotary actuator
Linear actuator
Position (finance)
Plant
Tracking (education)
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A set of force actuator was designed and tested for the active support system with a thin primary mirror to control the mirror surface error all the time.Conventional mechanisms for the force actuator with high accuracy and fine stability in engineering applications were studied.Then,based on the requirements of actuality and implementation in the thin primary mirror experiment system,a set of force actuator was designed and calculated in detail.A stepper motor integrated with a harmonic reducer was used to actuate the mechanism and precision screw to transmit,and an S-type Loadcell was taken as the force sensor to realize the feedback of force output.Finally,the mechanism was tested to validate the design feasibility through the opened loop and closed loop controls.Experimental results indicate that travel range of the force actuator is 0-10 mm,force range is-100-100 N and the accuracy is better than 0.05 N,which satisfies the demands of the force actuator for long range,high accuracy,fine output and stability.The actuator can be used in the support system of active optics,and is also a useful mechanism to other fine-tune structures.
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This paper presents a complete method for optimizing a linear actuator in order to perform its sensorless speed control. The optimizer maximizes the difference of inductances between two positions of interest in order to perform the efficient position detection. The paper shows how the modifications made on a normal E-shaped reluctant actuator achieve the objective of sensorless position detection and speed control.
Position (finance)
Linear actuator
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This paper explores some of the system dynamics and control issues for a short-stroke rotary actuator that we designed and tested for a new fast tool servo referred to as the 10 kHz rotary fast tool servo. The use of a fast tool servo (FTS) with a diamond turning machine for producing non-axisymmetric or textured surfaces on a workpiece is well known. In a previous paper [1] the authors provide details on the mechanical design and trade-off issues that were considered during the design phase for the fast tool servo. At the heart of that machine is the normal-stress variable reluctance rotary actuator described in more detail in this paper. In addition to producing the torque that is needed for the 10 kHz rotary fast tool servo, the actuator produces a force and is therefore referred to as a hybrid rotary/linear actuator. The actuator uses bias and steering magnetic fluxes for linearizing the torque versus current relationship. Certain types of electric engraving heads use an actuator similar in principle to our hybrid actuator. In the case of the engraving heads, the actuator is used to produce and sustain a resonating mechanical oscillator. This is in sharp contrast to the arbitrarymore » trajectory point-to-point closed-loop control of the tool tip that we demonstrate with our actuator and the 10 kHz FTS. Furthermore, we demonstrate closed-loop control of both the rotary and linear degrees of freedom for our actuator. We provide a brief summary of the demonstrated performance of the 10 kHz rotary fast tool servo, and discuss the magnetic circuit for the actuator and some of the related control issues. Montesanti [2] provides a more detailed and thorough discussion on the 10 kHz rotary fast tool servo, the hybrid actuator, and the pertinent prior art.« less
Servomechanism
Servo bandwidth
Rotary actuator
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The presented research was aimed at creating and testing a control system of a spooler for winding miniature induction coils. The discussed analysis was realized in order to verify a possibility of synchronizing the speed of the spindle drive (stepping motor) with the speed of the wire feed unit (miniature linear actuator based on a DC micromotor). A method of a sensorless measurement of rotor displacement of a DC micromotor was applied to control position of the actuator. The method is based on analysis of the current signal and its pulsation corresponding to the shaft rotation. An ATmega8 microcontroller communicating with PC was used to implement various control algorithms. Using a prototype of the controller, there were performed tests of the drive system, proving that synchronization between drives of a different type by means of the proposed method of analyzing current signal in a DC micromotor is possible
Synchronizing
SIGNAL (programming language)
Position (finance)
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According to the characteristics of electric actuator and pneumatic system, a new type of ingetrated electric- pneumatic hybrid actuator is designed. It has the advantages of high positioning accuracy and strong anti-interference ability of the electric actuator, as well as large output force and clean working medium of the pneumatic servo system. The problem of cylinder disturbance in the initial stage of the motion of the new actuator is solved through the research. By adding correction unit, the motion of the hybrid actuator is more stable and reliable. The following characteristics of the new actuator are obtained through simulation analysis and experimental research on the integrated electro-pneumatic hybrid actuator. The load bearing capacity of the new actuator is far more than that of its electric actuator, and the positioning accuracy is up to the position control accuracy of the electric actuator, and the cylinder can play a very good role in facilitating. At the same time, combined with its characteristics, the electric-pneumatic hybrid actuator is applied to the RCM ( Remote Center-of-Motion ) of the medical surgery assistant robot.
Pneumatic actuator
Rotary actuator
Pneumatic cylinder
Valve actuator
Servomechanism
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This paper discusses design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor. We introduce a design that pushes the performance boundary of electric series elastic actuators by using high motor voltage coupled with an efficient drivetrain to enable large continuous actuator force while retaining speed. Compact size is achieved through the use of a novel piston-style ball screw support mechanism and a concentrically placed compliant element. We develop controllers for force and position tracking based on combinations of PID, model-based, and disturbance observer control structures. Finally, we demonstrate our actuator's performance with a series of experiments designed to operate the actuator at the limits of its mechanical and control capability.
Piston (optics)
Rotary actuator
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Citations (23)
Stepper
Linear actuator
Stepper motor
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Citations (13)
A servo controlled pneumatic actuator system is employed as a kind of tracking control system. Layout of our system consists of two main parts, pneumatic and hydraulic systems. Currently, our main goal is to control the piston acceleration precisely that is generated by impact power in the chamber. In future, our final goal is to develop a simulator for vehicle crash tests through this research. The piston acceleration can be controlled by a hydraulically actuated friction brake system. The servo actuator system is initially transformed into a linear system description and then a tracking controller is developed. Our system using PID controller based on FPGA allows execution time around 0.3 seconds to match our assumption for system requirement. The test results have demonstrated pressure, velocity and acceleration responses of the cylinder with the nonlinear feed-back control. The target tracking results are shown to be consistent and in good agreement with the test data. A crash test is an important step to validate the novel car design. However, high cost in experimental testing limits the number of crash tests, resulting in inadequate data collection. Therefore, the simulator of vehicle crashes using an acceleration tracking control algorithm will become an indispensible tool for shortening not only automobile development time and lowering costs, but also safety evaluation testing.
Pneumatic actuator
Servomechanism
Tracking (education)
Rotary actuator
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A novel linear piezoelectric actuator is reported in this paper.Configuration of the actuator is designed and the character of which is tested.A testing system is designed.The linear stepper movement of the actuator is distinguished and its two model of movement have been found: stepper model and serial displacement model. The range of the actuator can be several centimeters; its resolution is 01 μm in the existed testing system; its velocity can be 0.6 mm/s; its configuration is sample and can be controlled easily. This actuator may be used in study of high precision closed loop control positioning system.
Linear actuator
Stepper
Plant
Rotary actuator
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This paper presents a robust repetitive controller design for a dual stage actuator system for the noncircular cam turning process. The secondary actuator in this dual stage system is a piezoelectric actuator which is installed inside of the hollow piston of an electrohydraulic actuator. The controller is designed through a sequence of two SISO designs under the assumption that there is little interaction between two actuator systems. The error from the first stage electrohydraulic actuator is fed to the second stage piezoelectric actuator as reference. Therefore, the overall sensitivity function is effectively squared through two actuators and the total error is the same as the error coming from the piezoelectric actuator. Experimental results show the tracking performance improvement in noncircular cam turning application.
Piston (optics)
Tracking error
Rotary actuator
Pneumatic actuator
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Citations (13)