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All figures (9)
Figure 8. Root contours of the closed-loop system controlled with the traditional PVPF when the changing parameter is the delay of the system (Circle of radius ωn indicated in dashed line)
Figure 9. Root contours of the closed-loop system controlled with the modified PVPF scheme scheme designed considering a nominal value of delay τ = 351 µs (indicated with crosses). The arrows in the figure indicate the moving direction of the poles when the actual delay of the plant is increased
Figure 3. FRF of the experimental platform and the secondorder model (including time delay), measured from the input to output displacements
Figure 2. A two-axis serial kinematic nanopositioner, designed at the EasyLab, University of Nevada, Reno, driven by two PiezoDrive 200V Linear amplifiers, with position measured by a Microsense 4810 capacitive sensor
Figure 7. Evolution of the closed-loop poles of the experimental platform for delay in the range [0,600] µs. The position of the poles for a delay of 351 µs is indicated with crosses and diamonds.
Figure 4. Magnitude and phase response of the nanopositioning platform measured from input to output displacement for different sampling rates. Plots in blue are experimental results and plots in green are simulated results including time delay
Figure 5. Frequency response of the experimental system without delay compensation and simulated results for the ideal case (without delay)
Figure 6. Frequency response of the experimental system with delay compensation and simulated results for the ideal case (without delay)
Figure 1. Block diagram of the closed-loop PVPF control scheme with tracking
Journal Article
•
DOI
•
A Modified Positive Velocity and Position Feedback scheme with delay compensation for improved nanopositioning performance
[...]
Andres San-Millan
1
,
Douglas Russell
2
,
Vicente Feliu
1
,
Sumeet S. Aphale
2
•
Institutions (2)
University of Castilla–La Mancha
1
,
University of Aberdeen
2
11 Jun 2015
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Smart Materials and Structures