Dynamic Characteristic Analysis and Experimental Verification of 2-DoF Resonant Actuator under Feedback Control

Abstract

The dynamic characteristics of a proposed two degree-of-freedom (DoF) actuator under amplitude feedback control are investigated in this paper. The feature of our proposed two DoF resonant actuator is that movement in the xand z-axes can be independently controlled by vector control. Two controllers: a PID controller and a proxy-based sliding mode (PSM) controller were compared for amplitude feedback control. A simulation model using finite element method (FEM) and MATLAB/Simlink is made, and the dynamic characteristics of the actuator under feedback control are calculated. Moreover, measurements on a prototype are conducted to show the validity of the simulation results.

Control of three-degree-of-freedom resonant actuator driven by novel vector control

“…In order to broaden the application range of LRAs, various kinds of multi-degree of freedom (DOF) resonant actuators have been developed [6,7]. Authors have also proposed a two degree-of-freedom resonant actuator that was able to be independently driven in x-and z-axes by vector control [8][9][10]. Additionally, authors have designed a three-DOF resonant actuator driven by conventional vector control [11].…”

Dynamic characteristics of three-degree-of-freedom resonant actuator

“…To broaden the application range of LRAs, various kinds of multi-degree of freedom (DOF) resonant actuators have been developed (Suzuki et al, 2010;Yamaguchi et al, 2009). Authors have also proposed a two-DOF resonant actuators that was able to be independently driven in x-and z-axes by vector control (Yoshimoto et al, 2012(Yoshimoto et al, , 2014(Yoshimoto et al, , 2015, and the effectiveness of the actuator was confirmed through three-dimensional (3D) finite element analysis (FEA) and measurement on a prototype.…”