Phuong-Bac Nguyen

A new approach to magnetic circuit analysis and its application to the optimal design of a bi-directional magnetorheological brake

This paper proposes a new approach to modeling the magnetic circuit of an MR brake and applies it to explore an engineering optimization problem. The MR brake used in this work is a bi-directional type whose range of braking torque varies from negative to positive values. The model of the bi-directional MR brake can be split into two components: the mechanical part and the magnetic circuit. While the mechanical part is modeled using Binghams equation, an approach to modeling the magnetic circuit is proposed in this work. For verification of the effectiveness of this method, an optimal design aiming to minimize the mass subjected to the geometric and desired torque constraints is undertaken. In order to solve such an optimization problem, which consists of numerous constraints and potential local optima, a particle swarm optimization (PSO) algorithm in combination with a gradient-based repair method is proposed. The optimal solution of the problem obtained from the proposed method is then investigated and compared with that obtained from finite element analysis (FEA). In addition, an experiment on a manufactured bi-directional MR brake with the optimal parameters is undertaken to validate the accuracy of the proposed analysis methodology.

Compensator design for hysteresis of a stacked PZT actuator using a congruency-based hysteresis model

This paper proposes a rate-independent hysteresis compensator for a stacked PZT (lead zirconate titanate) actuator. From a congruency-based hysteresis (CBH) model which is derived from the inherent properties of this actuator, especially the congruency, a feedforward compensator associated with it is developed. The formulation of the proposed compensator is based on an assumption that the inverse operator also possesses the same properties as the CBH model does. This implies that the compensator also possesses properties such as the wiped-out loop closing between the consecutive control points and congruency. Consequently, the expressions for the compensator can be conducted by exploiting the equations for the CBH model in two cases of monotonic increase and monotonic decrease of input excitation. In order to assess the performance of the compensator, several experiments in both open-loop and closed-loop controls are undertaken. In the open-loop control experiment, the performance of the feedforward compensator using the CBH model is compared with the classical Preisach model-based one in three cases of reference waveforms. In the closed-loop control experiment, the proposed compensator is incorporated into a PID (proportional-integral-derivative) control system and the performance of this integrated system is then evaluated and compared to that of the PID with and without compensator.

Accurate torque control of a bi-directional magneto-rheological actuator considering hysteresis and friction effects

This paper presents a novel type of magneto-rheological (MR) actuator called a bi-directional magneto-rheological (BMR) actuator and accurate torque control results considering both hysteresis and friction compensation. The induced torque of this actuator varies from negative to positive values. As a result, it can work as either a brake or a clutch depending on the scheme of current input. In our work, the configuration of the actuator as well as its driving system is presented first. Subsequently, a congruency hysteresis based (CBH) model to take account of the effect of the hysteresis is proposed. After that, a compensator based on this model is developed. In addition, the effect of dry friction, which exists inherently with MR actuators in general, is also considered. In order to assess the effectiveness of the hysteresis compensator, several experiments on modeling and control of the actuator with different waveforms are carried out.

A novel rate-independent hysteresis model of a piezostack actuator using the congruency property

This paper presents a novel hysteresis prediction model for a piezostack actuator. The model proposed in this work is a type of rate-independent hysteresis and is formulated using the inherent congruency property which exists in most piezoelectric materials. Specifically, the model is established by exploiting the fact that the high-order hysteretic curve segment is congruent with its first-order one that is limited by the same consecutive maximum and minimum values of input. Thus, in order to successfully implement this model two discretized first-order datasets of the ascending and descending curves need to be experimentally identified in advance. Using both the identified datasets and the congruency property, a systematic approach for predicting the hysteresis of the piezostack actuator is then obtained in two cases of input voltage: monotonic ascending and monotonic descending. The developed model is experimentally realized in order to demonstrate the effectiveness on the hysteresis prediction. In the experiment, three waveforms of input excitation schemes—a triangular waveform of decreasing amplitude, a triangular waveform of increasing amplitude and a multi-extremes triangular waveform—are applied to the proposed model. The hysteresis characteristics of the piezostack actuator predicted from the proposed model are compared with those obtained from the classical Preisach model. It is shown that the proposed model gives better accuracy, less computation time for the hysteresis prediction and more feasibility to realize than the classical Preisach model.

CHAPTER 16:A Novel Medical Haptic Device Using Magneto-rheological Fluid

This chapter introduces a novel haptic device for minimally invasive surgery (MIS) featuring a magneto-rheological (MR) fluid. It consists of three rotational and one translational motions. The rotational motions are constituted by two bi-directional magneto-rheological (BMR) brakes plus one conventional MR brake. For translational motion, a BMR linear actuator is adopted. The BMR brakesand linear actuator used in the system possess a salient advantage in that their ranges of braking torque and force vary from negative to positive values. Therefore, the devicesare expected to be able to sense in a wide environment from very soft tissues to bones in MIS. Overall of the design of the haptic master device is presented from idea, modelling, optimal design, manufacturing to control of the medical haptic device. Finally, several experiment are undertaken to validate the effectiveness of the device.

Open-loop position tracking control of a piezoceramic flexible beam using a dynamic hysteresis compensator

This paper proposes a novel hysteresis compensator to enhance control accuracy in open-loop position tracking control of a piezoceramic flexible beam. The proposed hysteresis compensator consists of two components: a rate-independent hysteresis compensator and a nonlinear filter. The compensator is formulated based on the inverse Preisach model, while the weight coefficients of the filter are identified adaptively using a recursive least square (RLS) algorithm. In this work, two dynamic hysteresis compensators (or rate-independent hysteresis compensators) are developed by adopting two different nonlinear filters: Volterra and bilinear filters. In order to demonstrate the improved control accuracy of the proposed dynamic compensators, a flexible beam associated with the piezoceramic actuator is modeled using the finite element method (FEM) and Euler–Bernoulli beam theory. The beam model is then integrated with the proposed hysteresis model to achieve accurate position tracking control at the tip of the beam. An experimental investigation on the tip position tracking control is undertaken by realizing three different hysteresis compensators: a rate-independent hysteresis compensator, a rate-dependent hysteresis compensator with a Volterra nonlinear filter and a rate-independent hysteresis compensator with a bilinear nonlinear filter. It is shown that the proposed dynamic hysteresis compensators can provide much better tracking control accuracy than conventional rate-independent hysteresis compensators.

A new hysteresis identification model using a diagonal-weighted Preisach model and recursive approach with application to piezostack actuators

This article presents a new hysteresis model of a piezostack actuator which is designed from the modification of the conventional Preisach hysteresis model. The proposed model which is called diagonal-weighted Preisach model is featured by weights of fundamental elements constituting triangles just along their own diagonal. With such an approach, there is no discontinuous jump at two consecutive elements in the Preisach triangle. Consequently, there is no need to adopt any further interpolation tool. In this work, a recursive approach with a simple computation associated with the proposed model is also developed. It is noted that in order to implement the proposed model, weights of fundamental elements must be obtained in prior. In order to demonstrate some characteristics of the proposed model, the prediction accuracy of the hysteresis is investigated based on the discretized number and compared with the conventional Preisach model. In addition, the proposed model is experimentally realized for the piezostack actuator and the identified displacement from the proposed model is compared with the actual one to validate the effectiveness.

A 3-DOF haptic master device for minimally invasive surgery

This paper introduces a novel 3-DOF haptic master device for minimally invasive surgery featuring magneto-rheological (MR) fluid. It consists of three rotational motions. These motions are constituted by two bi-directional MR (BMR) plus one conventional MR brakes. The BMR brake used in the system possesses a salient advantage that its range of braking torque varies from negative to positive values. Therefore, the device is expected to be able sense in a wide environment from very soft tissues to bones. In this paper, overall of the design of the device is presented from idea, modeling, optimal design, manufacturing to control of the device. Moreover, experimental investigation is undertaken to validate the effectiveness of the device.

Modeling of a piezostack actuator considering dynamic hysteresis

This paper proposes a compensator for the dynamic hysteresis of a piezostack actuator. It consists of two components: a rate-independent hysteresis compensator and a nonlinear filter. The compensator is formulated based on a novel rateindependent hysteresis model, whereas the filter is obtained adaptively using the recursive least square algorithm. In order to demonstrate the effectiveness of the proposed model, control performances are experimentally evaluated in time domain with different input voltage waveforms: fixed-frequency and varying-frequency sinusoidal waveforms. Moreover, a comparison between the dynamic model and the rate-independent one is undertaken. It is shown that the proposed dynamic model can provide much better accuracy than the rate-independent one.

Position Tracking Control of Flexible Piezo-beam Considering Actuator Hysteresis

ABSTRACT This paper presents a position tracking control of a flexible beam using the piezoelectric actuator. This is achieved by implementing both feedforward hysteretic compensator of the actuator and PID feedback controller. The Preisach model is adopted to develop the feedforward hysteretic compensator. In the design of the compensator, estimated displacement of the piezoceramic actuator is used based on the limiting triangle database that results from collecting data of the main reversal curve and the first order ascending curves. Experimental implementation is conducted for position tracking control and performance comparison is made between a PID feedback controller without considering the effect of hysteresis, and a PID feedback controller integrated with the feedforward hysteretic compensator. 요 약 이 논문에서는 압전작동기를 이용하여 유연 보 구조물의 위치추적제어를 실험적으로 고찰하였다. 작동기의 히스테리시스 특성을 보상하기 위한 앞먹임 보상기와 PID 되먹임 제어기를 함께 구성하여 정밀한 위치추적제어를 수행할 수 있도록 하였다. 히스테리시스 보상기는 압전작동기의 예측 변위를 바탕으로 한 프라이작 모델을 사용하여 구성하였다. 히스테리시스 보상기의 유무에 따른 PID 되먹임 제어의 성능을 조화 가진과 랜덤 가진 실험을 통하여 평가하였으며, 보상기와 되먹임 제어기를 함께 사용하였을 때, 우수한 위치추적제어 성능을 가지는 것을 확인하였다.