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In order to satisfy the demand for the high functionality of future microdevices, research on new concepts for multistable microactuators with enlarged working ranges becomes increasingly important. A challenge for the design of such actuators lies in overcoming the mechanical connections of the moved object, which limit its deflection angle or traveling distance. Although numerous approaches have already been proposed to solve this issue, only a few have considered multiple asymptotically stable resting positions. In order to fill this gap, we present a microactuator that allows large vertical displacements of a freely moving permanent magnet on a millimeter-scale. Multiple stable equilibria are generated at predefined positions by superimposing permanent magnetic fields, thus removing the need for constant energy input. In order to achieve fast object movements with low solenoid currents, we apply a combination of piezoelectric and electromagnetic actuation, which work as cooperative manipulators. Optimal trajectory planning and flatness-based control ensure time- and energy-efficient motion while being able to compensate for disturbances. We demonstrate the advantage of the proposed actuator in terms of its expandability and show the effectiveness of the controller with regard to the initial state uncertainty.
Michael Olbrich; Arwed Schütz; Tamara Bechtold; Christoph Ament. Design and Optimal Control of a Multistable, Cooperative Microactuator. Actuators 2021, 10, 183 .
AMA StyleMichael Olbrich, Arwed Schütz, Tamara Bechtold, Christoph Ament. Design and Optimal Control of a Multistable, Cooperative Microactuator. Actuators. 2021; 10 (8):183.
Chicago/Turabian StyleMichael Olbrich; Arwed Schütz; Tamara Bechtold; Christoph Ament. 2021. "Design and Optimal Control of a Multistable, Cooperative Microactuator." Actuators 10, no. 8: 183.
A current goal for microactuators is to extend their usually small working ranges, which typically result from mechanical connections and restoring forces imposed by cantilevers. In order to overcome this, we present a bistable levitation setup to realise free vertical motion of a magnetic proof mass. By superimposing permanent magnetic fields, we imprint two equilibrium positions, namely on the ground plate and levitating at a predefined height. Energy-efficient switching between both resting positions is achieved by the cooperation of a piezoelectric stack actuator, initially accelerating the proof mass, and subsequent electromagnetic control. A trade-off between robust equilibrium positions and energy-efficient transitions is found by simultaneously optimising the controller and design parameters in a co-design. A flatness-based controller is then proposed for tracking the obtained trajectories. Simulation results demonstrate the effectiveness of the combined optimisation.
Michael Olbrich; Arwed Schütz; Koustav Kanjilal; Tamara Bechtold; Ulrike Wallrabe; Christoph Ament. Co-Design and Control of a Magnetic Microactuator for Freely Moving Platforms. Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications 2020, 64, 23 .
AMA StyleMichael Olbrich, Arwed Schütz, Koustav Kanjilal, Tamara Bechtold, Ulrike Wallrabe, Christoph Ament. Co-Design and Control of a Magnetic Microactuator for Freely Moving Platforms. Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications. 2020; 64 (1):23.
Chicago/Turabian StyleMichael Olbrich; Arwed Schütz; Koustav Kanjilal; Tamara Bechtold; Ulrike Wallrabe; Christoph Ament. 2020. "Co-Design and Control of a Magnetic Microactuator for Freely Moving Platforms." Proceedings of 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications 64, no. 1: 23.