MATEC Web Conf.
Volume 254, 2019XXIII Polish-Slovak Scientific Conference on Machine Modelling and Simulations (MMS 2018)
|Number of page(s)||12|
|Section||Methods and Systems in Machine Design|
|Published online||15 January 2019|
Control issues of a fast positioner intended for deflection of a high power laser beam
Institute of Automatic Control and Robotics, Warsaw University of Technology, A. Boboli 8, 02-525 Warsaw, Poland
2 Institute of Micromechanics and Photonics, Warsaw University of Technology, A. Boboli 8, 02-525 Warsaw, Poland
* Corresponding author: email@example.com
This paper discusses some crucial aspects of control of a fast positioner intended for positioning of a mirror reflecting high power laser beam. Positioner is driven by a two linear movement piezo actuators acting on a common flexible flat spring bending it in two perpendicular directions. The reflector is fixed to this spring. Clearly, the actuator is a dynamic oscillating system. This makes control of positioner demanding. In order to overcome the effects of static nonlinearity, hysteresis and their time evolution, there were proposed two independent closed loop positioning systems each governing each own axis. The simulation investigations allowed for determining the suboptimal structure and parameters of controllers. Two different control loops were investigated and discussed. The simulation experiments shown, that the most efficient controller is able to “mask” the actuator hysteresis while introducing appropriate dynamic damping and stiffness to the controlled system. The concept of the positioner controller was described and some chosen results of laboratory experiments were presented. Finally, the assessment of the control quality is given together with some general conclusions closing the paper.
Key words: piezoelectric actuator / fast positioning unit / hysteresis / control error / positioner / tracking error / laser beam reflector
© The Authors, published by EDP Sciences, 2019
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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