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Thomas Dehaeze
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" /><meta name="description" content="Tags Vibration Isolation, Actuators Reference (Shingo Ito &amp; Georg Schitter, 2016) Author(s) Ito, S., &amp; Schitter, G. Year 2016 Classification of high-precision actuators Table 1: Zero/Low and High stiffness actuators Categories Pros Cons Zero stiffness No vibration transmission Large and Heavy Low stiffness High vibration isolation Typically for low load High Stiffness High control bandwidth High vibration transmission Time Delay of Piezoelectric Electronics In this paper, the piezoelectric actuator/electronics adds a time delay which is much higher than the time delay added by the voice coil/electronics." />
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<h1 class="post-title">Comparison and classification of high-precision actuators based on stiffness influencing vibration isolation</h1>
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<h2 class="post-toc-title">Contents</h2>
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<ul>
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<li><a href="#classification-of-high-precision-actuators">Classification of high-precision actuators</a></li>
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<li><a href="#time-delay-of-piezoelectric-electronics">Time Delay of Piezoelectric Electronics</a></li>
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<li><a href="#definition-of-low-stiffness-and-high-stiffness-actuator">Definition of low-stiffness and high-stiffness actuator</a></li>
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<li><a href="#low-stiffness-high-stiffness-characteristics">Low-Stiffness / High-Stiffness characteristics</a></li>
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<li><a href="#controller-design">Controller Design</a></li>
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<li><a href="#discussion">Discussion</a></li>
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<dl>
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<dt>Tags</dt>
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<dd><a href="/zettels/vibration_isolation/">Vibration Isolation</a>, <a href="/zettels/actuators/">Actuators</a></dd>
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<dt>Reference</dt>
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<dd><sup id="aad53368e29e8a519e2f63857044fa46"><a href="#ito16_compar_class_high_precis_actuat" title="Shingo Ito \& Georg Schitter, Comparison and Classification of High-Precision Actuators Based on Stiffness Influencing Vibration Isolation, {IEEE/ASME Transactions on Mechatronics}, v(2), 1169-1178 (2016).">(Shingo Ito & Georg Schitter, 2016)</a></sup></dd>
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<dt>Author(s)</dt>
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<dd>Ito, S., & Schitter, G.</dd>
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<dt>Year</dt>
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<dd>2016</dd>
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</dl>
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<h2 id="classification-of-high-precision-actuators">Classification of high-precision actuators</h2>
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<div class="table-caption">
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<span class="table-number">Table 1</span>:
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Zero/Low and High stiffness actuators
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</div>
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<table>
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<thead>
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<tr>
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<th><strong>Categories</strong></th>
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<th><strong>Pros</strong></th>
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<th><strong>Cons</strong></th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>Zero stiffness</td>
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<td>No vibration transmission</td>
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<td>Large and Heavy</td>
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</tr>
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<tr>
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<td>Low stiffness</td>
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<td>High vibration isolation</td>
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<td>Typically for low load</td>
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</tr>
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<tr>
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<td>High Stiffness</td>
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<td>High control bandwidth</td>
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<td>High vibration transmission</td>
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</tr>
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</tbody>
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</table>
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<h2 id="time-delay-of-piezoelectric-electronics">Time Delay of Piezoelectric Electronics</h2>
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<p>In this paper, the piezoelectric actuator/electronics adds a time delay which is much higher than the time delay added by the voice coil/electronics.</p>
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<h2 id="definition-of-low-stiffness-and-high-stiffness-actuator">Definition of low-stiffness and high-stiffness actuator</h2>
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<ul>
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<li><strong>Low Stiffness</strong> actuator is defined as the ones where the transmissibility stays below 0dB at all frequency</li>
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<li><strong>High Stiffness</strong> actuator is defined as the ones where the transmissibility goes above 0dB at some frequency</li>
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</ul>
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<p><a id="org6e18c94"></a></p>
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<figure>
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<img src="/ox-hugo/ito16_low_high_stiffness_actuators.png"
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alt="Figure 1: Definition of low-stiffness and high-stiffness actuator"/> <figcaption>
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<p>Figure 1: Definition of low-stiffness and high-stiffness actuator</p>
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</figcaption>
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</figure>
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<h2 id="low-stiffness-high-stiffness-characteristics">Low-Stiffness / High-Stiffness characteristics</h2>
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<ul>
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<li>The low stiffness actuators achieve smooth transition from active isolation to passive isolation.</li>
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<li>The high stiffness actuators can have a gap between the passive and active isolation vibration where the vibrations are amplified in a certain frequency band.</li>
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</ul>
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<h2 id="controller-design">Controller Design</h2>
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<p><a id="orgc911fbe"></a></p>
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<figure>
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<img src="/ox-hugo/ito16_transmissibility.png"
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alt="Figure 2: Obtained transmissibility"/> <figcaption>
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<p>Figure 2: Obtained transmissibility</p>
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</figcaption>
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</figure>
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<h2 id="discussion">Discussion</h2>
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<p>The stiffness requirement for low-stiffness actuators can be rephrased in the frequency domain as: “the cross-over frequency of the sensitivity function of the feedback system must be larger than \(\sqrt{2} \omega_r\) with \(\omega_r\) is the resonant frequency of the uncontrolled system”.</p>
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<p>In practice, this is difficult to achieve with piezoelectric actuators as their first resonant frequency \(\omega_r\) is <strong>too close to other resonant frequencies to ensure close-loop stability</strong>.
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In contrast, the frequency band between the first and the other resonances of Lorentz actuators can be broad by design making them more suitable to construct a low-stiffness actuators.</p>
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<h1 id="bibliography">Bibliography</h1>
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<p><a id="ito16_compar_class_high_precis_actuat"></a>Ito, S., & Schitter, G., <em>Comparison and classification of high-precision actuators based on stiffness influencing vibration isolation</em>, IEEE/ASME Transactions on Mechatronics, <em>21(2)</em>, 1169–1178 (2016). <a href="http://dx.doi.org/10.1109/tmech.2015.2478658">http://dx.doi.org/10.1109/tmech.2015.2478658</a> <a href="#aad53368e29e8a519e2f63857044fa46">↩</a></p>
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