Optimal Low-Power Piezoelectric Actuator Control With Charge Recovery for a Microrobotic Leg

Edamana, Biju; Oldham, Kenn R.

doi:10.1109/tmech.2011.2165079

Cited by 19 publications

(14 citation statements)

References 15 publications

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“…If the charge can be reused, efficiency will be improved. Therefore, many studies have been carried out on charge recovery [11][12][13][14][15][16]. They can be categorized into two methods: one using an inductor and the other with a capacitor.…”

Section: Introductionmentioning

confidence: 99%

“…The drawback of this method is the inductor's huge mass, which generally makes the inductor bulky and heavy; therefore, it is not suitable for mobile robot applications. Several researchers proposed charge recovery circuits that transfer the charge in the parasitic capacitance to another capacitor (or piezoelectric actuator) and reuses it [13][14][15][16]. Their circuits utilizing capacitors are lighter than those with inductors because they are composed of switches.…”

Section: Introductionmentioning

confidence: 99%

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Power-Efficient Driver Circuit for Piezo Electric Actuator with Passive Charge Recovery

Ozaki

Ohta

2020

Energies

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Piezoelectric actuation is a promising principle for insect-scaled robots. A major concern while utilizing a piezoelectric actuator is energy loss due to its parasitic capacitance. In this paper, we propose a new concept to recover the charge stored in the parasitic capacitance; it requires only three additional lightweight passive components: two diodes and a resistor. The advantages of our concept are its small additional mass and simple operating procedure compared with existing charge recovery circuits. We provided a guideline for selecting a resistor using a simplified theoretical model and found that half of the charge can be recovered by employing a resistor that has a resistance sufficiently larger than the forward resistance of the additional diode. In addition, we experimentally demonstrated the concept. With a capacitive load (as a replacement for the piezoelectric actuator), it was successfully observed that the proposed concept decreased the power consumption to 58% of that in a circuit without charge recovery. Considering micro aerial vehicle (MAV) applications, we measured the lift-to-power efficiency of a flapping wing piezoelectric actuator by applying the proposed concept. The lift force was not affected by charge recovery; however, the power consumption was reduced. As a result, the efficiency was improved to 30.0%. We expect that the proposed circuit will contribute to the advancement of energy-saving microrobotics.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Power-Efficient Driver Circuit for Piezo Electric Actuator with Passive Charge Recovery

Ozaki

Ohta

2020

Energies

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“…Iterative control of PZT actuators was used in [5] to control excitation waveforms in cilia-based mixing in order to improve mixing performance. Optimal low power PZT actuator control with partial charge recovery using integer-programming-based algorithm was discussed in [7]. Modeling and control of the XY piezo stage with piezo actuators were presented in [8].…”

Section: Introductionmentioning

confidence: 99%

Piezo LEGS Driving Principle Based on Coordinate Transformation

Uzunović

Golubovic

Şabanoviç

2015

IEEE/ASME Trans. Mechatron.

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This paper offers a new approach for specifying the waveforms of driving voltages for a Piezo LEGS motor. A novel idea of coordinate transformation to define the waveforms of driving voltages, based on the motor static model, is presented. This transformation defines driving voltages according to the desired motion of the motor legs in the x-and y-directions. The approach allows a user to first define force acting on the motor rod in the ydirection and define the rod's x-direction trajectory profile. Waveforms of the driving voltages are subsequently defined to meet these requirements. The proposed approach also enables the possibility of defining the desired step shape for the motor and, according to that definition, producing driving voltages. Based on the given coordinate transformation, a simple method for Piezo LEGS motor control, identified as virtual time control, is presented. This method results in overshoot-free high precision positioning.

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“…In [5], iterative control of the PZT actuators was used to control excitation waveforms in cilia-based mixing. Integerprogramming-based algorithm was applied in [11] for optimal low-power piezoelectric actuator control. A novel approach for deriving inverse model of the piezoelectric actuator hysteresis was given in [12].…”

Section: Introductionmentioning

confidence: 99%

Control system for high precision positioning applications based on piezo motors

Uzunović

Golubovic

Kebude

et al. 2015

2015 IEEE International Conference on Mechatronics (ICM)

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In this paper implementation of a control system for high precision applications is presented. The control system is developed for a Piezo LEGS motor, which is a walking piezo motor that can be employed in nanometric precision applications. In the control system structure, two main components are digital signal controller which executes control algorithm and power driver that is generating driving voltages for the motor. The waveforms of the driving voltages are designed using a recently presented coordinate transformation. This transformation enables synthesis of driving waveforms according to design requirements regarding force imposed to the motor's rod and rod's x-direction trajectory profile. In this work, the waveforms are selected to ensure no relative motion between the motor's legs and rod, and constant velocity of the rod within one step. Control algorithm is named as virtual time control. Despite its simplicity, the algorithm allows high precision positioning which is very close to theoretically achievable one.

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Optimal Low-Power Piezoelectric Actuator Control With Charge Recovery for a Microrobotic Leg

Cited by 19 publications

References 15 publications

Power-Efficient Driver Circuit for Piezo Electric Actuator with Passive Charge Recovery

Power-Efficient Driver Circuit for Piezo Electric Actuator with Passive Charge Recovery

Piezo LEGS Driving Principle Based on Coordinate Transformation

Control system for high precision positioning applications based on piezo motors

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