Modeling and control introduced a fractional-order transfer function for highly precise positioning device with a flat damper

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K14931
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Akita National College of Technology
• Principal Investigator: Sakurada Akira 秋田工業高等専門学校, その他部局等, 准教授 (90442681)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 分数階微積分 / 高速高精度位置決め / 平面減衰機構 / 粘弾性体特性評価装置 / 周波数依存性 / ヒステリシス特性

Outline of Final Research Achievements

Highly precise positioning device that combines a stacked piezoelectric element and a displacement expansion mechanism is developed. In further research, characterization of the newly applied flat damper and the mathematics of fractional calculus were introduced. I developed a new control method and experimentally verified the effectiveness of the method. There are no commercially available evaluation devices that measure the frequencies required to characterize flat damper. Then the new prototype of the evaluation device is developed. After that hysteresis characteristics and frequency dependence are identified using the new evaluation device. Furthermore, the transfer function of the controller for fractional calculus is approached to an integer order transfer function by the Oustaloup method to improve the performance.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

ナノスケールでの位置決めに必要とされている広い動作範囲と制御帯域の向上を目指すPZT 精密位置決め機構に対して，平面減衰機構を適用しても制御性能を低下させることなく，位置決めを実現する方法を明らかにした．今後，様々な応用分野において，本位置決め装置が求められ，導入されて行くことが予想され，これらの分野へ貢献できると期待できる．