Commutation Angle Iterative Learning Control: Enhancing Piezo-Stepper Actuator Waveforms

摘要

Piezo-stepper actuators consist of piezo elements that are able to displace a mover over an infinite stroke through walking while maintaining the high accuracy and high stiffness properties of the piezo elements. The aim of this paper is to mitigate repetitive disturbances, that are introduced by the walking behaviour, to improve the performance of piezo-stepper actuators. The key challenge is to address repeating disturbances in the position domain, which may be varying in the time domain. A new position-domain iterative learning control procedure is presented that computes a signal in the commutation angle domain that mitigates the repetitive disturbances. The results from this procedure are exploited to determine an optimal waveform for the working range of the actuator. A significant improvement in performance is achieved after applying this waveform to a piezo-stepper actuator.