Abstract
In this paper, an improvement to Integral Force Feedback (IFF) damping control is proposed. The main limitation of Integral Force Feedback is that the maximum modal damping depends on the system's parameters. Hence, for some system achievable damping is insignificant. The proposed improvement allows any arbitrary damping ratio to be achieved for a system by introducing a new feed-through term in the system. To achieve displacement tracking, one technique is to enclose the system in an integral feedback loop. However, the bandwidth is limited due to the effects of an additional pole in the damping loop. The proposed Structured PI controller is parameterised so that it contains a zero that cancel the additional pole. Experiment was conducted on a commercial objective lens positioner. The results show an exceptional tracking and damping performance and the system's insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed method, the bandwidth is increased to 255 Hz.
| Original language | English |
|---|---|
| Title of host publication | 19th IFAC World Congress |
| Subtitle of host publication | Proceedings |
| Publisher | Elsevier |
| Pages | 11793-11799 |
| Number of pages | 7 |
| ISBN (Print) | 9783902823625 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa Duration: 24 Aug 2014 → 29 Aug 2014 |
Publication series
| Name | IFAC Proceedings Volumes |
|---|---|
| Publisher | Elsevier |
| Number | 3 |
| Volume | 47 |
Conference
| Conference | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 |
|---|---|
| Country | South Africa |
| City | Cape Town |
| Period | 24/08/14 → 29/08/14 |
Fingerprint
Keywords
- Damping control
- Force feedback
- Nanopositioning
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Optimal integral force feedback and structured pi tracking control : Application for high speed confocal microscopy. / Teo, Yik R.; Russell, Douglas; Aphale, Sumeet S.; Fleming, Andrew J.
19th IFAC World Congress: Proceedings. Elsevier, 2014. p. 11793-11799 (IFAC Proceedings Volumes; Vol. 47, No. 3).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Optimal integral force feedback and structured pi tracking control
T2 - Application for high speed confocal microscopy
AU - Teo, Yik R.
AU - Russell, Douglas
AU - Aphale, Sumeet S.
AU - Fleming, Andrew J.
PY - 2014
Y1 - 2014
N2 - In this paper, an improvement to Integral Force Feedback (IFF) damping control is proposed. The main limitation of Integral Force Feedback is that the maximum modal damping depends on the system's parameters. Hence, for some system achievable damping is insignificant. The proposed improvement allows any arbitrary damping ratio to be achieved for a system by introducing a new feed-through term in the system. To achieve displacement tracking, one technique is to enclose the system in an integral feedback loop. However, the bandwidth is limited due to the effects of an additional pole in the damping loop. The proposed Structured PI controller is parameterised so that it contains a zero that cancel the additional pole. Experiment was conducted on a commercial objective lens positioner. The results show an exceptional tracking and damping performance and the system's insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed method, the bandwidth is increased to 255 Hz.
AB - In this paper, an improvement to Integral Force Feedback (IFF) damping control is proposed. The main limitation of Integral Force Feedback is that the maximum modal damping depends on the system's parameters. Hence, for some system achievable damping is insignificant. The proposed improvement allows any arbitrary damping ratio to be achieved for a system by introducing a new feed-through term in the system. To achieve displacement tracking, one technique is to enclose the system in an integral feedback loop. However, the bandwidth is limited due to the effects of an additional pole in the damping loop. The proposed Structured PI controller is parameterised so that it contains a zero that cancel the additional pole. Experiment was conducted on a commercial objective lens positioner. The results show an exceptional tracking and damping performance and the system's insensitivity to changes in resonance frequency. The maximum bandwidth achievable with a commercial PID controller is 26.1 Hz. In contrast, with the proposed method, the bandwidth is increased to 255 Hz.
KW - Damping control
KW - Force feedback
KW - Nanopositioning
UR - http://www.scopus.com/inward/record.url?scp=84929783260&partnerID=8YFLogxK
U2 - 10.3182/20140824-6-ZA-1003.00297
DO - 10.3182/20140824-6-ZA-1003.00297
M3 - Conference contribution
SN - 9783902823625
T3 - IFAC Proceedings Volumes
SP - 11793
EP - 11799
BT - 19th IFAC World Congress
PB - Elsevier
ER -