Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 13, 2020 - September 16, 2020
This paper presents a contact force control without a force sensor in piezoelectric bimorph actuators. A feedback control system using a high-resolution force sensor is important to achieve high-precision force control by suppressing the nonlinearities in the piezoelectric actuator. Contrary to that, sensorless control is required to reduce the cost and space utilization of micro- and nano-systems. In this paper, the contact force is calculated based on using the input voltage to the actuator and the voltage of a series-connected capacitor and resistance. A mechanical model and an electrical model are used as an estimation equation of the contact force. The two parameters used in the equation are turned based on preliminary experiments. A force feedback control system is designed based on the estimated force signal. The proposed sensorless control approach has been verified by conducting experiments using a piezoelectric bimorph actuator and different contact objects.
