RESUMEN
High-precision positioning systems play a crucial role in various industrial applications. This study focuses on improving the performance of a high-precision multi-degrees-of-freedom (DOF) stage. In terms of the controller design, the following two key challenges must be addressed: the cross-decoupling of different DOFs and the impact of external disturbances. To address these problems, a self-tuning approach is proposed for simultaneous decoupling and disturbance suppression. Initially, the stage undergoes static decoupling using a data-based approach, facilitating feedback control for each DOF through single-input, single-output controllers. Addressing dynamic coupling and external disturbance challenges, we introduced a comprehensive evaluation index and a self-tuning multi-input, multi-output disturbance observer. This approach enabled the evaluation and optimization of the disturbance compensation for all DOFs, ensuring optimal positioning accuracy. Finally, we tested the proposed method using a high-precision multi-DOF stage with a real-time control platform. The results demonstrated a significant reduction in the standard deviations of positioning errors in the rx, ry, and z directions by 46%, 58%, and 6%, respectively. The approach used in this study opens avenues for advancements in the design and control of complex multi-DOF systems.
RESUMEN
In this work, we demonstrated a novel and low-cost full-range optical coherence tomography (FROCT) method. In comparison with the off-pivot approach, which needs precise control of the deflecting distance and should be adjusted for different situations, our proposed method is more flexible without regulating the system itself. Different from the previous systems reported in the literature, which used a high-cost piezo-driven stage to introduce the phase modulation, our system utilizes a cost-effective voice coil motor for retrieving the complex-valued spectral signal. The complex-valued data, with a twofold increase in the accessible depth range, can be calculated using an algorithm based on the Hilbert transform and Dirac delta function. To confirm the effectivity of our method, both simulation and experiments were performed. In particular, for the in vivo experiment, we presented the FROCT result of a fingernail fold, demonstrating the availability of in vivo imaging. Since the key element of our system is a low-cost voice coil motor, which is flexible and more accessible for most of the clinics, we believe that it has great potential to be a clinical modality in the future.
RESUMEN
High-speed atomic force microscopes (HS-AFMs) with high temporal resolution enable dynamic phenomena to be visualized at nanoscale resolution. However, HS-AFMs are more complex and costlier than conventional AFMs, and particulars of an open-source HS-AFM controller have not been published before. These high entry barriers hinder the popularization of HS-AFMs in both academic and industrial applications. In addition, HS-AFMs generally have a small imaging area that limits the fields of implementation. This study presents an open-source controller that enables a low-cost simplified AFM to achieve a maximum tip-sample velocity of 5,093 µm/s (9.3 s/frame, 512 × 512 pixels), which is nearly 100 times higher than that of the original controller. Moreover, the proposed controller doubles the imaging area to 46.3 × 46.3 µm2 compared to that of the original system. The low-cost HS-AFM can successfully assess the severity of atopic dermatitis (AD) by measuring the nanotexture of human skin corneocytes in constant height DC mode. The open-source controller-based HS-AFM system costs less than $4,000, which provides resource-limited research institutes with affordable access to high-throughput nanoscale imaging to further expand the HS-AFM research community.
RESUMEN
In this paper, a multi-module electrodynamic exciter based on moving-magnet disk voice coil motor is presented to meet the demands of high torque and high bandwidth in a dynamic torsional stiffness test. A variable pole-arc ratio disk Halbach array (VPAR-DHA) is proposed, so that both high torque density and low rotor inertia can be obtained through enhancing the magnetic field in the working range. The analytical quasi-3-D model of VPAR-DHA was set up by using the harmonic function method, with the consideration of end-effects by a correction function. Electromagnetic structure optimization was carried out with the analytical model, and verified by 3-D finite-element (FEM) results. The proposed design was experimentally tested and verified with a prototype that achieved a peak dynamic torque output of 40 Nm at a frequency of 120 Hz, and a stroke of ±1°. The proposed method can also be easily extended to satisfy various demands of dynamic torsional stiffness test.
RESUMEN
The object of this study is to develop a self-tuning fractional order proportional-integral-derivative (SFOPID) controller for controlling the mover position of a direct drive linear voice coil motor (VCM) accurately under different operational conditions. The fractional order proportional-integral-derivative (FOPID) controller can improve the control performances of the conventional integer order PID controller with respect to the additional fractional differential and integral orders; however, choosing five interdependent control parameters including proportional, integral, and derivative gains, as well as fractional differential and integral orders appropriately is arduous in practical applications. In this regard, the SFOPID controller is proposed in which the five control parameters are optimized dynamically and concurrently according to an adaptive differential evolution algorithm with a high efficiency adaptive selection mechanism. Experimental results reveal that the SFOPID controller outperforms PID and FOPID controllers with regard to the nonlinear VCM control system under both nominal and payload conditions.
RESUMEN
More and more linear servo systems have been used in servo applications. Direct drive technology can greatly increase the bandwidth and the tracking accuracy. A position servo-system based on linear voice-coil motor was designed for one linear oscillation movement application. Besides the conventional position, speed and current control loops, the speed and acceleration feed-forward control of command position signal were also used. The experimental test proved the correctness of the design, and the system can track the given periodic sinnsoid position command signal of 15Hz with high accuracy. The linear voice-coil motor is very suitable for short stroke position tracking application with high dynamic response.
RESUMEN
More and more linear servo systems have been used in servo applications. Direct drive technology can greatly increase the bandwidth and the tracking accuracy. A position servo-system based on linear voice-coil motor was designed for one linear oscillation movement application. Besides the conventional position, speed and current control loops, the speed and acceleration feed-forward control of command position signal were also used. The experimental test proved the correctness of the design, and the system can track the given periodic sinusoid position command signal of 15Hz with high accuracy. The linear voice-coil motor is very suitable for short stroke position tracking application with high dynamic response.