抄録
The dynamic characteristics of a proposed two degree-of-freedom (DoF) actuator under amplitude feedback control are investigated in this paper. The feature of our proposed two DoF resonant actuator is that movement in the x- and z- axes can be independently controlled by vector control. Two controllers: a PID controller and a proxy-based sliding mode (PSM) controller were compared for amplitude feedback control. A simulation model using finite element method (FEM) and MATLAB/Simlink is made, and the dynamic characteristics of the actuator under feedback control are calculated. Moreover, measurements on a prototype are conducted to show the validity of the simulation results.
