Project Scope - I

Treating the Dual-Stage Actuator as 2 individual

Single-Stage Actuators
One Actuator operating at any one time
Primary: VCM Actuator (PZT off)
Secondary: PZT Micro-actuator (VCM off)
Dual-Stage: Power up VCM + PZT





Project Scope - II
For each actuator, perform:
- Frequency Response Measurement
- System Identification, G(s)
- Notch Filter Design, F(s)
- Controller Design, C(s)
- Discretization, C(z)F(z)
- Hardware Controller Implementation

Then design for Dual-Stage Actuator
- Master-Slave Decoupling/PQ Method etc.

What has been done I
VCM
Frequency Response Measurement
System Identification
Notch Filter Design
Controller Design
Discretization
Hardware Controller Implementation
What has been done II
PZT micro-actuator
Frequency Response Measurement
System Identification
Notch Filter Design
Controller Design
Discretization

What has been done III
Main focus: VCM
- Explore
- Simulate with different controllers
- Compare simulation results with experiment
- Analyze
PZT simulations
- Could be used by interested learners for
hardware test

System Identification I
VCM Experimental Frequency Response vs.
Identified VCM Model






Model:

System Identification II
Rigid body model
- Repeated pole at around 1 kHz
Resonant Modes
- in-phase mode = 2 poles
- out-of-phase mode = 2 zeroes
Extraction of Modal Parameters

- natural frequency = frequency at resonant peak
- small damping ratio
- (half-power bandwidth) damping ratio (
a
-
b
)/2
r







System Identification III
Resonant Modes, i Resonant Frequency
(kHz)
Damping Ratio,
i

1 4.29 0.0043
2 7.29 0.0051
3 7.86 0.0062
4 9.63 0.0204
Anti-resonant Modes, j Anti-resonant
frequency (kHz)
Damping Ratio,
i

1 4.43 0.0044
2 7.61 0.0087
3 8.92 0.0068
Modal Parameters of the identified
VCM model
Notch Compensation
4 Notch Filters Designed for the 4 resonant
modes above
7 Notch Filters
used initially
Notch Filters
brings about
drastic phase
changes
Leads to
implementation
problem on DSP


Desired Frequency Domain for
Controller Design
- Closed-loop Stability: 6 dB GM, 40 deg PM
- Disturbance Rejection: High gain at low
frequency range
- Low High frequency Gain: Reduce noise
amplification
PI-Lead Controller Design
Integral Control
with Lead
Compensator
Integrator:
Infinite gain at
low frequency
Lead: Boosts
PM at gain c/o
frequency

Lag-Lead Controller Design I
Lag: Increases
low frequency
gain
Reduced steady
state error
Lag-Lead chosen
over PI-Lead:
unidentified
problem
with DSP during
PI implementation
Closed-loop Step Response I

Discretization and Simulink
Source:
unit square
wave input
40 kHz
sampling
frequency
Tustin
approximation
Hardware Implementation of the
Lag-Lead Compensator I
Undue vibration
observed from
the VCM plant
Indication of
Instability
Large oscillations
Problem Identification and Controller
Redesign
Mismatch between VCM bode plot and the plot
of the identified model (slide 6)
Gain lowered at low frequencies (slide 7)
Pure gain added for adjustment (slide 8)
Resonant modes are the same
Lag-Lead Compensator Redesigned


Problem Identification contd.
Problem Identification contd.
Controller Redesign II (gain c/o
frequency = 460 Hz)
Closed-loop Step Response II
Hardware Implementation of Lag-
Lead Compensator II (gain c/o = 460
Hz)
Small Bandwidth
Slow Response
Oscillations
Bandwidth
can be
increased

Controller Design III (gain c/o
frequency = 955 Hz)
Closed Loop Step Response III
Simulink Plots for Discrete-time I
Source: Unit Square Wave Input
40 kHz Sampling frequency
ZOH method
Simulink Plots for Discrete-time II
Source: Saw-tooth wave
40 kHz Sampling frequency
Tustin method

Simulink Plots for Discrete-time
III
Source: Sine Wave
40 kHz Sampling Frequency
Tustin method

Hardware Implementation of Lag-
Lead Compensator III (gain c/o = 955
Hz)
Faster response
Increased oscillations
Possible drawback
in notch design
Variation in VCM
resonant modes
Wider notch filter
could be used


Control Design Results
Open-
loop
transfer
function
Gain
Margin
(dB)
Phase
Margin
(deg)
Gain c/o
Frequen
cy
(Hz)
Oversho
ot
(%)
Rise
time
(s)

Settling
time (s)
P
vcm
(s)N
vcm
(s)C
vcm
(s)
(460 Hz)
6.18 52.9 460 22.8 0.000181 0.00174
P
vcm
(s)N
vc
m
(s)C
vcm
(s)
(955 Hz)

6.79 46.8 955 23.2 0.000186 0.00168
Desired
Specificat
ions
> 6 > 30 1000 < 20 < 0.0002 < 0.002
PZT Micro-actuator: System
Identification
PZT control: Lag Compensator
cascaded with 4 Notch Filters
Closed-loop Step Response
Control Design Results
GM = 13.3 dB
PM = 49.2 deg
Overshoot = 12.8 %
Settling time = 1.66 ms
Discretization and Simulink
Square wave input source
40 kHz Sampling frequency
Tustin method









Questions?