Simultaneous Optimization of Damping and Tracking Controller Parameters via Selective Pole Placement for Enhanced Positioning Bandwidth of Nanopositioners

Douglas Russell, Andrew J. Fleming, Sumeet Sunil Aphale

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

Positive velocity and position feedback (PVPF) is a widely used control scheme in lightly damped resonant systems with collocated sensor actuator pairs. The popularity of PVPF is due to the ability to achieve a chosen damping ratio by repositioning the poles of the system. The addition of a tracking controller, to reduce the effects of inherent nonlinearities, causes the poles to deviate from the intended location and can be a detriment to the damping achieved. By designing the PVPF and tracking controllers simultaneously, the optimal damping and tracking can be achieved. Simulations show full damping of the first resonance mode and significantly higher bandwidth than that achieved using the traditional PVPF design method, allowing for high-speed scanning with accurate tracking. Experimental results are also provided to verify performance in implementation.
Original languageEnglish
Article numberDS-14-1539
Number of pages8
JournalJournal of Dynamic Systems, Measurement, and Control
Volume137
Issue number10
DOIs
Publication statusPublished - 10 Jul 2015

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positioning
Poles
controllers
poles
Damping
damping
bandwidth
Feedback
Bandwidth
Controllers
optimization
Control nonlinearities
Actuators
Scanning
actuators
nonlinearity
high speed
Sensors
scanning
causes

Keywords

  • Positive velocity and position
  • PVPF
  • Tracking controller
  • Optimal damping

Cite this

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abstract = "Positive velocity and position feedback (PVPF) is a widely used control scheme in lightly damped resonant systems with collocated sensor actuator pairs. The popularity of PVPF is due to the ability to achieve a chosen damping ratio by repositioning the poles of the system. The addition of a tracking controller, to reduce the effects of inherent nonlinearities, causes the poles to deviate from the intended location and can be a detriment to the damping achieved. By designing the PVPF and tracking controllers simultaneously, the optimal damping and tracking can be achieved. Simulations show full damping of the first resonance mode and significantly higher bandwidth than that achieved using the traditional PVPF design method, allowing for high-speed scanning with accurate tracking. Experimental results are also provided to verify performance in implementation.",
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N2 - Positive velocity and position feedback (PVPF) is a widely used control scheme in lightly damped resonant systems with collocated sensor actuator pairs. The popularity of PVPF is due to the ability to achieve a chosen damping ratio by repositioning the poles of the system. The addition of a tracking controller, to reduce the effects of inherent nonlinearities, causes the poles to deviate from the intended location and can be a detriment to the damping achieved. By designing the PVPF and tracking controllers simultaneously, the optimal damping and tracking can be achieved. Simulations show full damping of the first resonance mode and significantly higher bandwidth than that achieved using the traditional PVPF design method, allowing for high-speed scanning with accurate tracking. Experimental results are also provided to verify performance in implementation.

AB - Positive velocity and position feedback (PVPF) is a widely used control scheme in lightly damped resonant systems with collocated sensor actuator pairs. The popularity of PVPF is due to the ability to achieve a chosen damping ratio by repositioning the poles of the system. The addition of a tracking controller, to reduce the effects of inherent nonlinearities, causes the poles to deviate from the intended location and can be a detriment to the damping achieved. By designing the PVPF and tracking controllers simultaneously, the optimal damping and tracking can be achieved. Simulations show full damping of the first resonance mode and significantly higher bandwidth than that achieved using the traditional PVPF design method, allowing for high-speed scanning with accurate tracking. Experimental results are also provided to verify performance in implementation.

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