Nano Positioning Control Using Magnetostrictive Actuators
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Date
2007-05-18T13:36:16Z
Authors
Valadkhan, Sina
Journal Title
Journal ISSN
Volume Title
Publisher
University of Waterloo
Abstract
The focus of this thesis is on the
development of control systems for nano-
positioning actuators using magnetostrictive
materials. Magnetostrictive materials have
large strokes and fast responses. However,
they are less commonly used than other smart
materials such as piezoceramics due to their
highly nonlinear and hysteretic behaviour.
It is necessary to arrive at an accurate
model which can predict the material
response at any magnetic field and load
condition. Furthermore, due to the
nonlinearity of the material, a closed-loop
feedback system with a stabilizing
controller is needed.
Different hysteresis models for
magnetostrictive materials are implemented
and compared. Since load-dependence is one
of the main features of hysteresis for
magnetostrictive materials, load-dependent
models are studied. An existing load-
dependent model is implemented and compared
with a new load-dependent hysteresis model
which is developed by energy considerations.
Passivity of the magnetostrictive system was
shown using a physical argument. The results
are used to develop a stabilizing
controller. Using the properties of the
Preisach model, an alternative approach for
controller design is proposed. Tracking
properties and stability of the controllers
were shown.
An experimental setup has been developed for
data collection and model and controller
evaluation.
Description
Keywords
hysteresis, control