Quasi-Sliding Mode Control of a High-Precision Hybrid Magnetic Suspension Actuator
Dengfeng Li and Hector Martin Gutierrez
Department of Mechanical & Aerospace Engineering, Florida Institute of Technology, 150 West University Boulevard, Melbourne, FL 32901, USA
A novel 1-DOF hybrid magnetic suspension actuator for precise motion control is presented. The actuator is designed to achieve sub-micron positioning accuracy over a range of motion in excess of 1000 µm while avoiding large nominal levitation currents and iron core saturation. The proposed passive push-active pull configuration offers precise motion control with moderate actuator effort when a payload is to be accurately suspended over a large range of travel. The proposed actuator can be used modularly to control multiple axes of motion in a multi-DOF positioning application that requires millimeter-range travel with submicron accuracy. A Quasi-Sliding Mode controller (QSM) is presented in which the sliding mode dynamics are directly designed, as opposed to the typical Lyapunov function approach that is solely based on stability. Since full knowledge of the state vector is required, a nonlinear high-gain observer was also designed and implemented. Performance of the QSM algorithm in controlling the proposed actuator is compared to that of a PID controller with standard feedback linearization. Several experiments are conducted to demonstrate both the positioning and tracking capabilities of the proposed actuator. The proposed QSM method shows better transient performance than the standard PID feedback linearization approach. QSM also shows better tracking performance, which is highly desirable in systems in which fast and accurate motion control along a desired path is critical.
-  W. Gao, S. Sato, Y. Sakurai, and S. Kiyono, “Design of a Precision Linear-Rotary Positioning Actuator,” J. of Robotics and Mechatronics, Vol.18, No.6, pp. 803-807, 2006.
-  Y. Irie, H. Aoyama, J. Kubo, T. Fujioka, and T. Usuda, “Piezo-Impact-Driven X-Y Stage and Precise Sample Holder for Accurate Microlens Alignment,” J. of Robotics and Mechatronics, Vol.21, No.5, pp. 635-641, 2009.
-  D. Trumper, S. Olson, and P. Subrahmanyan, “Linearizing Control of Magnetic Suspension Systems,” IEEE Trans. Control Systems Technology, Vol.5, No.4, pp. 427-438, 1997.
-  V. Oliveira, E. Costa, and J. Vargas, “Digital Implementation of a Magnetic Suspension Control System for Laboratory Experiments,” IEEE Trans. Education, Vol.42, No.4, pp. 315-322, 1999.
-  S. Mittaland and C. Menq, “Precision Motion Control of a Magnetic Suspension Actuator Using a Robust Nonlinear Compensation Scheme,” IEEE Trans. Mechatronics, Vol.2, No.4, pp. 268-280, 1997.
-  S. Kuo, X. Shan, and C. Menq, “Large Travel Ultra Precision x-y-θ Motion Control of a Magnetic-Suspension Stage,” IEEE Trans. Mechatronics, Vol.8, No.3, pp. 334-341, 2003.
-  H.M. Gutierrez and P. I. Ro, “Sliding Mode Control of a Nonlinear-Input System: Application to a Magnetically Levitated Fast-Tool Servo,” IEEE Trans. on Industrial Electronics, Vol.45, No.6, 1998.
-  H. M. Gutierrez and P. I. Ro, “Parametric Modeling and Control of a Long- Range Actuator using Magnetic Servo Levitation,” IEEE Trans. on Magnetics, Vol.34, No.5, Sept. 1998.
-  F. Lin, L. Teng, and P. Shieh, “Intelligent Sliding-Mode Control Using RBFN for Magnetic Levitation System,” IEEE Trans. Industrial Electronics, Vol.54, No.3, pp. 1752-1762, 2007.
-  D. Craig and M. Khamesee, “Motion Control of a Large Gap Magnetic Suspension System for Microrobotic Manipulation,” J. Phys. D: Appl. Phys., Vol.40, pp. 3277-3285, 2007.
-  M. Khamesee and E. Shameli, “Regulation Technique for a Large Gap Magnetic Field for 3D Non-contact Manipulation,” The Elsevier J. of Mechatronics, Vol.15, pp. 1073-1087, 2005.
-  S. Verma, H. Shakir, and W. Kim, “Novel Electromagnetic Actuation Scheme for Multiaxis Nanopositioning,” IEEE Trans. Magnetics, Vol.42, No.8, pp. 2052-2062, 2006.
-  J. Gu, W. Kim, and S. Verma, “Nanoscale Motion Control With a Compact Minimum-Actuator Magnetic Levitator,” ASME J. Dynamic Systems, Measurement and Control, Vol.127, pp. 433-442, 2005.
-  H. Maruyama, F. Arai, and T. Fukuda, “On-Chip Microparticle Manipulation Using Disposable Magnetically Driven Microdevices,” J. of Robotics and Mechatronics, Vol.18, No.3, pp. 264-270, 2006.
-  L. Feng, T. Kawahara, Y. Yamanishi, M. Hagiwara, K. Kosuge, and F. Arai, “On-Demand and Size-Controlled Production of Droplets by Magnetically Driven Microtool,” J. of Robotics and Mechatronics, Vol.24, No.1, pp. 133-140, 2012.
-  M. Hagiwara, M. Niimi, T. Kawahara, Y. Yamanishi, H. Nakanishi, and F. Arai, “On-Chip Particle Sorting into Multiple Channels by Magnetically Driven Microtools,” J. of Robotics and Mechatronics, Vol.23, No.3, pp. 370-377, 2011.
-  M. Pakkratoke, S. Hirata, C. Kanamori, and H. Aoyama, “Development of Microscopic Hardness and Stiffness Investigation System with MicroRobot,” J. of Robotics and Mechatronics, Vol.24, No.1, pp. 123-132, 2012.
-  W. Gao, K. Horie, S. Dian, K. Katakura, and S. Kiyono, “Improvement in a Surface Motor-Driven Planar Motion Stage,” J. of Robotics and Mechatronics, Vol.18, No.6, pp. 808-815, 2006.
-  S. Ludwick, D. Trumper, and M. Holmes, “Modeling and Control of a Six Degree-of-Freedom Magnetic/Fluidic Motion Control Stage,” IEEE Trans. Control Systems Technology, Vol.4, No.5, pp. 553-564, 1996.
-  H. Gutierrez and P. Ro, “Magnetic Servo Levitation by Sliding-Mode Control of Nonaffine Systems with Algebraic Input Invertibility,” IEEE Trans. Industrial Electronics, Vol.52, No.5, pp. 1449-1455, 2005.
-  D. Pebrianti, W.Wang, D. Iwakura, Y. Song, and K. Nonami, “Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor MAV,” J. of Robotics and Mechatronics, Vol.23, No.1, pp. 137-148, 2011.
-  J. Y. Hung, W. Gao, and J. C. Hung, “Variable Structure Control: A Survey,” IEEE Trans. Industrial Electronics, Vol.40, No.1, pp. 2-22, 1993.
-  S. Chikazumi, “Physics of Ferromagnetism,” Oxford University Press, pp. 19-21, 2005.
-  S. Kuo and C. Menq, “Modeling and Control of a Six-axis Precision Motion Control Stage,” IEEE Trans. Mechatronics, Vol.10, No.1, pp. 50-59, 2005.
-  H. Khalil, “Nonlinear Systems Third Edition,” Prentice Hall, 2002.
-  W. Gao and J. C. Hung, “Variable Structure Control of Nonlinear Systems: A New Approach,” IEEE Trans. Industrial Electronics, Vol.40, No.1, pp. 45-55, 1993.
-  A. Tesfaye, H. Lee, and M. Tomizuka, “A Sensitivity Optimization Approach to Design of a Disturbance Observer in Digital Motion Control Systems,” IEEE Trans. Mechatronics, Vol.5, No.1, pp. 32-38, 2000.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2013 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.