Master-slave control with hysteresis inversion for dual-stage nanopositioning systems

Nagel, William S.; Leang, Kam K.

doi:10.1109/acc.2016.7524988

Cited by 16 publications

(5 citation statements)

References 40 publications

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“…To control a servomechanism in dual-stage HDDs, various methods have already been designed and optimized and are described in the existing literature [7][8][9][10][11]. The decoupled master-slave architecture is explained in [12][13][14][15], the parallel structure is presented in [16][17][18], and the PQ method is described in [19]. In a triple-stage system, the R/W head is controlled by three stages with the help of three actuators installed in different positions of the suspension-a VCM actuator used as the primary stage, a PZT micro-actuator used as the secondary stage, and a thermal positioning controller (TPC) actuator used as the tertiary stage [20][21][22][23][24][25][26].…”

Section: Plant Modelmentioning

confidence: 99%

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Comparative Analysis among Single-Stage, Dual-Stage, and Triple-Stage Actuator Systems Applied to a Hard Disk Drive Servo System

Hossain

Rahman

2019

Actuators

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In modern times, the design and optimization of different actuator systems for controlling a high-precision position control system represent a popular interdisciplinary research area. Initially, only single-stage actuator systems were used to control most of the motion control applications. Currently, dual-stage actuation systems are widely applied to high-precision position control systems such as hard disk drive (HDD) servo systems. In the dual-stage system, a voice coil motor (VCM) actuator is used as the primary stage and a piezoelectric micro-actuator is applied as the secondary stage. However, a dual-stage control architecture does not show significant performance improvements to achieve the next-generation high-capacity HDD servo system. Research continues on how to fabricate a tertiary actuator for a triple-stage HDD servo system. A thermal positioning controller (TPC) actuator is considered promising as the tertiary stage. The triple-stage system aims to achieve greater bandwidth, track density, and disk speed, with minimum sensitivity and greater error minimization. In this work, these three actuation systems with different combinations of proportional plus integral (PI), proportional plus derivative (PD), and proportional plus integral plus derivative (PID) controller, lag-lead controller, lag filter, and inverse lead plus a PI controller were designed and analyzed through simulation to achieve high-precision positioning. The comparative analyses were done on the MATLAB/Simulink simulation platform.

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Section: Plant Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comparative Analysis among Single-Stage, Dual-Stage, and Triple-Stage Actuator Systems Applied to a Hard Disk Drive Servo System

Hossain

Rahman

2019

Actuators

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“…Nowadays, various modern control strategies, such as predictive control, sliding mode control, internal model control and active disturbance rejection control, have also been gradually applied in such platforms to comprehensively improve both their dynamic performance and positioning accuracy from the angles of convex optimization, nonlinear feedforward and disturbance robustness enhancement [17][18][19][20]. Moreover, adopting the double-input single-output (DISO) control method can avoid the influence of errors introduced by mechanical assembly or an accuracy gap between sensors, and reflects a certain increase in the motion accuracy [21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Kang,

Zhang,

Huang

et al. 2023

Machines

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A macro–micro dual-drive motion platform is a class of key system utilized in ultra-precision instruments and equipment for realizing ultra-high-precision positioning, which relates to the fields of semiconductor manufacturing, ultra-precision testing and machining, etc. Aiming at the ultra-high-precision positioning control problem of macro–micro dual-drive systems containing mechanical backlash, this paper analyzes the combined effect of mechanical coupling and backlash, and proposes a macro–micro compound control strategy. Firstly, the system dynamic model, including mechanical coupling, is established, and a quasi-linear backlash model is also proposed. Secondly, based on the above model, a stepwise nonlinear identification method is proposed to obtain the backlash characteristic online, which is the basis of accurate backlash compensation. Then, for the macro–micro structure containing the backlash, a macro decoupling control method, combined with a micro adaptive integral sliding mode control method and backlash compensation, are designed coordinately to guarantee that the large-stroke macro–micro cooperative motion reaches micron-level accuracy. Moreover, the boundary of the positioning error is adjustable by tuning the controller parameters. Finally, both the simulation and experimental results demonstrate that the proposed identification method can estimate the time-varying backlash precisely in finite time, and the system positioning accuracy can achieve an average 20 μm with long stroke and backlash influence, which is much higher than that using the traditional method and provides theoretical guidance for high-precision positioning control of a class of dual-drive motion platform.

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“…Some researches use multiple single-input and single-output (SISO) compensators to keep the control complexity low. For example, parallel loop 26 and master-slave loop 27,28 are most popular. In our work, starting from the master–slave controller as the baseline, a new switching controller was developed which takes visual cue and position cue together and adjusting the weights according to the error condition.…”

Section: Introductionmentioning

confidence: 99%

Development of a dual-stage and visual-servo filming robot

Liu

Yang

Liao

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents the development of a visual-servo filming robot for dolly & truck style camera movement in filming applications. The robot was implemented with a fast-response slider as the upper stage on top of the slow-response tracked robot body as the lower stage, to improve target tracking performance. A new switching controller was developed, which controlled the stages’ motions by balancing and adjusting the weights of vision error and slider’s noncentering error of the upper stage, thus achieving tracking performance better than the traditional master–slave control strategy. The simulations were carried out to evaluate the tracking performance of the model, particularly focusing on evaluating how the dual stage improves the overall response of the model. The similar evaluation was executed experimentally as well. Both results confirm that the fast-response characteristics of the upper stage can compensate the slow dynamics of lower stage, the tracked robot which is inevitably heavy due to its composition.

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Master-slave control with hysteresis inversion for dual-stage nanopositioning systems

Cited by 16 publications

References 40 publications

Comparative Analysis among Single-Stage, Dual-Stage, and Triple-Stage Actuator Systems Applied to a Hard Disk Drive Servo System

Comparative Analysis among Single-Stage, Dual-Stage, and Triple-Stage Actuator Systems Applied to a Hard Disk Drive Servo System

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Development of a dual-stage and visual-servo filming robot

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