Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems

Riccardo Antonello, Angelo Cenedese, Roberto Oboe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Hybrid Stepper Motors (HSM) are the workhorses in many low-end motion control systems, given their low cost and high reliability. The resolution of the positioning systems using this type of motors has been increased with the introduction of the microstepping driving technique, even if, being operated in open loop, HSM cannot provide the actual control of the load position. Recently, the authors have proposed an innovative control scheme [1], based on the use of a load side acceleration sensor, that implements the active damping of a HSM-driven mechanical load, in presence of a flexible mechanical transmission between motor and load. This is a typical industrial scenario, in which the problem of the oscillations arising from the excitation of the mechanical resonance by various disturbances (including torque ripple) is usually addressed by severely limiting the overall dynamic performance. In this paper, we propose the extension of the proposed technique, with the use of a MEMS gyroscope to implement an active damping control strategy, which allows for the improvement of the dynamic response and an excellent rejection of the oscillations caused by the torque ripple. The proposed technique does not require the re-design of the existing equipments, since it is based on the real time modulation of the orientation of the stator flux, aimed at producing a compensating torque and, in turn, damping the oscillatory modes. Experimental results, obtained with a HSM-driven camera positioning unit, confirm the effectiveness of the proposed solution.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2176-2181
Number of pages6
DOIs
Publication statusPublished - 2011
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: Nov 7 2011Nov 10 2011

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/7/1111/10/11

Fingerprint

Gyroscopes
Vibrations (mechanical)
MEMS
Damping
Torque
Motion control
Stators
Dynamic response
Cameras
Modulation
Fluxes
Control systems
Sensors
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Antonello, R., Cenedese, A., & Oboe, R. (2011). Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems. In IECON Proceedings (Industrial Electronics Conference) (pp. 2176-2181). [6119645] https://doi.org/10.1109/IECON.2011.6119645

Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems. / Antonello, Riccardo; Cenedese, Angelo; Oboe, Roberto.

IECON Proceedings (Industrial Electronics Conference). 2011. p. 2176-2181 6119645.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Antonello, R, Cenedese, A & Oboe, R 2011, Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems. in IECON Proceedings (Industrial Electronics Conference)., 6119645, pp. 2176-2181, 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011, Melbourne, VIC, Australia, 11/7/11. https://doi.org/10.1109/IECON.2011.6119645
Antonello R, Cenedese A, Oboe R. Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems. In IECON Proceedings (Industrial Electronics Conference). 2011. p. 2176-2181. 6119645 https://doi.org/10.1109/IECON.2011.6119645
Antonello, Riccardo ; Cenedese, Angelo ; Oboe, Roberto. / Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems. IECON Proceedings (Industrial Electronics Conference). 2011. pp. 2176-2181
@inproceedings{87d2b70467a84949b3a64bfcb25e2965,
title = "Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems",
abstract = "Hybrid Stepper Motors (HSM) are the workhorses in many low-end motion control systems, given their low cost and high reliability. The resolution of the positioning systems using this type of motors has been increased with the introduction of the microstepping driving technique, even if, being operated in open loop, HSM cannot provide the actual control of the load position. Recently, the authors have proposed an innovative control scheme [1], based on the use of a load side acceleration sensor, that implements the active damping of a HSM-driven mechanical load, in presence of a flexible mechanical transmission between motor and load. This is a typical industrial scenario, in which the problem of the oscillations arising from the excitation of the mechanical resonance by various disturbances (including torque ripple) is usually addressed by severely limiting the overall dynamic performance. In this paper, we propose the extension of the proposed technique, with the use of a MEMS gyroscope to implement an active damping control strategy, which allows for the improvement of the dynamic response and an excellent rejection of the oscillations caused by the torque ripple. The proposed technique does not require the re-design of the existing equipments, since it is based on the real time modulation of the orientation of the stator flux, aimed at producing a compensating torque and, in turn, damping the oscillatory modes. Experimental results, obtained with a HSM-driven camera positioning unit, confirm the effectiveness of the proposed solution.",
author = "Riccardo Antonello and Angelo Cenedese and Roberto Oboe",
year = "2011",
doi = "10.1109/IECON.2011.6119645",
language = "English",
isbn = "9781612849720",
pages = "2176--2181",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - Use of MEMS gyroscopes in active vibration damping for HSM-driven positioning systems

AU - Antonello, Riccardo

AU - Cenedese, Angelo

AU - Oboe, Roberto

PY - 2011

Y1 - 2011

N2 - Hybrid Stepper Motors (HSM) are the workhorses in many low-end motion control systems, given their low cost and high reliability. The resolution of the positioning systems using this type of motors has been increased with the introduction of the microstepping driving technique, even if, being operated in open loop, HSM cannot provide the actual control of the load position. Recently, the authors have proposed an innovative control scheme [1], based on the use of a load side acceleration sensor, that implements the active damping of a HSM-driven mechanical load, in presence of a flexible mechanical transmission between motor and load. This is a typical industrial scenario, in which the problem of the oscillations arising from the excitation of the mechanical resonance by various disturbances (including torque ripple) is usually addressed by severely limiting the overall dynamic performance. In this paper, we propose the extension of the proposed technique, with the use of a MEMS gyroscope to implement an active damping control strategy, which allows for the improvement of the dynamic response and an excellent rejection of the oscillations caused by the torque ripple. The proposed technique does not require the re-design of the existing equipments, since it is based on the real time modulation of the orientation of the stator flux, aimed at producing a compensating torque and, in turn, damping the oscillatory modes. Experimental results, obtained with a HSM-driven camera positioning unit, confirm the effectiveness of the proposed solution.

AB - Hybrid Stepper Motors (HSM) are the workhorses in many low-end motion control systems, given their low cost and high reliability. The resolution of the positioning systems using this type of motors has been increased with the introduction of the microstepping driving technique, even if, being operated in open loop, HSM cannot provide the actual control of the load position. Recently, the authors have proposed an innovative control scheme [1], based on the use of a load side acceleration sensor, that implements the active damping of a HSM-driven mechanical load, in presence of a flexible mechanical transmission between motor and load. This is a typical industrial scenario, in which the problem of the oscillations arising from the excitation of the mechanical resonance by various disturbances (including torque ripple) is usually addressed by severely limiting the overall dynamic performance. In this paper, we propose the extension of the proposed technique, with the use of a MEMS gyroscope to implement an active damping control strategy, which allows for the improvement of the dynamic response and an excellent rejection of the oscillations caused by the torque ripple. The proposed technique does not require the re-design of the existing equipments, since it is based on the real time modulation of the orientation of the stator flux, aimed at producing a compensating torque and, in turn, damping the oscillatory modes. Experimental results, obtained with a HSM-driven camera positioning unit, confirm the effectiveness of the proposed solution.

UR - http://www.scopus.com/inward/record.url?scp=84856546139&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84856546139&partnerID=8YFLogxK

U2 - 10.1109/IECON.2011.6119645

DO - 10.1109/IECON.2011.6119645

M3 - Conference contribution

AN - SCOPUS:84856546139

SN - 9781612849720

SP - 2176

EP - 2181

BT - IECON Proceedings (Industrial Electronics Conference)

ER -