Closed-loop optimal control-enabled piezoelectric microforce sensors | |
Yantao Shen; Winder, E.; Pomeroy, C.A.; Wejinya, U.C. | |
刊名 | IEEE/ASME Transactions on Mechatronics
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2006 | |
卷号 | 11期号:4页码:420-427 |
关键词 | Actuator Force Balance Force Sensor Microautomation Microrobotics Optimal Control Polyvinylidene Fluoride (Pvdf) |
ISSN号 | 1083-4435 |
产权排序 | 2 |
英文摘要 | This paper presents a closed-loop optimally controlled force-sensing technology with applications in both micromanipulation and microassembly. The microforce-sensing technology in this paper is based on a cantilevered composite beam structure with embedded piezoelectric polyvinylidene fluoride (PVDF) actuating and sensing layers. In this type of sensor, the application of an external load causes deformation within the PVDF sensing layer. This generates a signal that is fed through a linear quadratic regulator (LQR) optimal servoed controller to the PVDF actuating layer. This in turn generates a balancing force to counteract the externally applied load. As a result, a closed feedback loop is formed, which causes the tip of this highly sensitive sensor to remain in its equilibrium position, even in the presence of dynamically applied external loads. The sensor's stiffness is virtually improved as a result of the equilibrium position whenever the control loop is active, thereby enabling accurate motion control of the sensor tip for fine micromanipulation and microassembly. Furthermore, the applied force can be determined in real time through measurement of the balance force |
WOS关键词 | EXPERIMENTAL-VERIFICATION ; LAMINATE BEAM ; ACTUATORS ; MICROGRIPPER ; EQUATIONS |
WOS研究方向 | Automation & Control Systems ; Engineering |
语种 | 英语 |
WOS记录号 | WOS:000239933500007 |
公开日期 | 2012-05-29 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/7323] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
作者单位 | 1.IEEE 2.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 3.Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, United States |
推荐引用方式 GB/T 7714 | Yantao Shen,Winder, E.,Pomeroy, C.A.,et al. Closed-loop optimal control-enabled piezoelectric microforce sensors[J]. IEEE/ASME Transactions on Mechatronics,2006,11(4):420-427. |
APA | Yantao Shen,Winder, E.,Pomeroy, C.A.,&Wejinya, U.C..(2006).Closed-loop optimal control-enabled piezoelectric microforce sensors.IEEE/ASME Transactions on Mechatronics,11(4),420-427. |
MLA | Yantao Shen,et al."Closed-loop optimal control-enabled piezoelectric microforce sensors".IEEE/ASME Transactions on Mechatronics 11.4(2006):420-427. |
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