International Journal of Mechatronics and Automation, 2018
This paper deals with the synthesis, design, and implementation of robust H-infinity (H ∞) positi... more This paper deals with the synthesis, design, and implementation of robust H-infinity (H ∞) position controller of piezoelectric actuator drive (PAD). The PAD is an accurate rotary piezoelectric motor that employs the elongation of stack actuators and the micro-toothed ring and shaft to generate precise rotation motion. The motor position depends on precise adjustment between the motor ring and shaft and therefore demands a closed loop control to overcome the maladjustment problems. In this paper, Simulink model of the PAD is firstly proposed. Robust H ∞ position controller is then designed, implemented, and validated by simulation and experimental tests.
HAL (Le Centre pour la Communication Scientifique Directe), May 1, 2004
A methodology to design an attractive robust controller for traveling wave ultrasonic motor (TWUS... more A methodology to design an attractive robust controller for traveling wave ultrasonic motor (TWUSM) is followed on this work. This methodology takes into account several non-linear effects, such as the friction effect, those occur in the ultrasonic motor mechanism. To achieve that, our first objective is to derive a simplified hybrid model (PSHM) that catch the main behavior of the motor during normal operation, including the stator/rotor contact interface, and that can be used to design speed and position control laws. Finally, based on this model, a Fuzzy logic controller (FLC) is designed in order to achieve robustness against several uncertainties (i.e. load torque variations, motor heating, parameters uncertainties.. .), and a popular Shinsei USR60 is used experimentally to validate the proposed methodology.
Revue internationale de génie électrique, Dec 12, 2008
Pour une meilleure exploitation des materiaux dits «fonctionnels » et afin d'explorer de nouv... more Pour une meilleure exploitation des materiaux dits «fonctionnels » et afin d'explorer de nouvelles applications, leur modelisation numerique est necessaire et est actuellement en plein essor. Or il se trouve que, dans la pratique, les materiaux actifs sont souvent utilises en couche mince, nous avons donc developpe un modele de type plaque 1D pour la modelisation de dispositifs piezoelectriques. Ce modele a ete applique a des dispositifs vibrants pour lesquels des techniques particulieres d'amortissement sont utilisees.
HAL (Le Centre pour la Communication Scientifique Directe), 2011
This paper discusses the ways to achieve a macroscopic motion from the very small strain generate... more This paper discusses the ways to achieve a macroscopic motion from the very small strain generated in basic piezoelectric actuators. The first part reviews the operating principle and forcedisplacement characteristics of some types of piezoelectric actuators, bulk-type, multilayer, benders, flextensional and Langevin transducers. The second part focuses on the different ways to convert this small displacement into macroscopic sliding motion, usually through friction forces. Regardless of the actual use of the active piezoelectric elements, it is shown that the characteristics of each motor can be derived from the trajectory of the contact point between the active stator and the slider, either with a reversible or hysteretic motion. Finally, the third part shows two recent prototypes of piezomotors that have been built and tested in our lab: an Inchworm and a lineartraveling-wave motor.
Afin d'innover dans le domaine de la mécanique et après une étude bibliographique de l'état de l'... more Afin d'innover dans le domaine de la mécanique et après une étude bibliographique de l'état de l'art actuel des micro-systèmes de pompage, on cherche à mettre en oeuvre un nouveau concept de micropompe qui résolve en plusieurs aspects les faiblesses des architectures traditionnelles. Cet article porte sur la simulation numérique de la partie électromécanique du système d'actionnement de la micropompe. Cet actionnement repose sur le principe d'un mouvement à onde progressive dans un milieu élastique excité par des céramiques piézoélectriques. Dans cet article, le processus de modélisation de la structure d'actionnement est décrit en trois étapes principales : L'étude des principes physiques de chaque composant, l'intégration des équations dans une seule expression et sa solution par un algorithme numérique. Trois approches pour l'obtention d'une onde progressive sont ensuite étudiées.
Journal of Intelligent Material Systems and Structures
This paper aims to implement the controllable deformation of a structure using Shape Memory Alloy... more This paper aims to implement the controllable deformation of a structure using Shape Memory Alloys (SMA) actuators. A sensorless displacement estimation method is proposed. This method is tested on a prototype composed of a disc, beams, and SMA actuators. By measuring the variation of electrical resistivity in SMA springs, as a feedback signal in the closed-loop position control, the surface displacement is obtained without any external displacement sensor. The proposed method is validated by comparing the displacement values estimated by the electrical resistivity measurement with those measured by a laser sensor. The estimated displacement and the measured displacement follow the reference displacement with steady-state errors, respectively of 1.14% and 0.42%.
International Journal of Mechatronics and Automation, 2018
This paper deals with the synthesis, design, and implementation of robust H-infinity (H ∞) positi... more This paper deals with the synthesis, design, and implementation of robust H-infinity (H ∞) position controller of piezoelectric actuator drive (PAD). The PAD is an accurate rotary piezoelectric motor that employs the elongation of stack actuators and the micro-toothed ring and shaft to generate precise rotation motion. The motor position depends on precise adjustment between the motor ring and shaft and therefore demands a closed loop control to overcome the maladjustment problems. In this paper, Simulink model of the PAD is firstly proposed. Robust H ∞ position controller is then designed, implemented, and validated by simulation and experimental tests.
HAL (Le Centre pour la Communication Scientifique Directe), May 1, 2004
A methodology to design an attractive robust controller for traveling wave ultrasonic motor (TWUS... more A methodology to design an attractive robust controller for traveling wave ultrasonic motor (TWUSM) is followed on this work. This methodology takes into account several non-linear effects, such as the friction effect, those occur in the ultrasonic motor mechanism. To achieve that, our first objective is to derive a simplified hybrid model (PSHM) that catch the main behavior of the motor during normal operation, including the stator/rotor contact interface, and that can be used to design speed and position control laws. Finally, based on this model, a Fuzzy logic controller (FLC) is designed in order to achieve robustness against several uncertainties (i.e. load torque variations, motor heating, parameters uncertainties.. .), and a popular Shinsei USR60 is used experimentally to validate the proposed methodology.
Revue internationale de génie électrique, Dec 12, 2008
Pour une meilleure exploitation des materiaux dits «fonctionnels » et afin d'explorer de nouv... more Pour une meilleure exploitation des materiaux dits «fonctionnels » et afin d'explorer de nouvelles applications, leur modelisation numerique est necessaire et est actuellement en plein essor. Or il se trouve que, dans la pratique, les materiaux actifs sont souvent utilises en couche mince, nous avons donc developpe un modele de type plaque 1D pour la modelisation de dispositifs piezoelectriques. Ce modele a ete applique a des dispositifs vibrants pour lesquels des techniques particulieres d'amortissement sont utilisees.
HAL (Le Centre pour la Communication Scientifique Directe), 2011
This paper discusses the ways to achieve a macroscopic motion from the very small strain generate... more This paper discusses the ways to achieve a macroscopic motion from the very small strain generated in basic piezoelectric actuators. The first part reviews the operating principle and forcedisplacement characteristics of some types of piezoelectric actuators, bulk-type, multilayer, benders, flextensional and Langevin transducers. The second part focuses on the different ways to convert this small displacement into macroscopic sliding motion, usually through friction forces. Regardless of the actual use of the active piezoelectric elements, it is shown that the characteristics of each motor can be derived from the trajectory of the contact point between the active stator and the slider, either with a reversible or hysteretic motion. Finally, the third part shows two recent prototypes of piezomotors that have been built and tested in our lab: an Inchworm and a lineartraveling-wave motor.
Afin d'innover dans le domaine de la mécanique et après une étude bibliographique de l'état de l'... more Afin d'innover dans le domaine de la mécanique et après une étude bibliographique de l'état de l'art actuel des micro-systèmes de pompage, on cherche à mettre en oeuvre un nouveau concept de micropompe qui résolve en plusieurs aspects les faiblesses des architectures traditionnelles. Cet article porte sur la simulation numérique de la partie électromécanique du système d'actionnement de la micropompe. Cet actionnement repose sur le principe d'un mouvement à onde progressive dans un milieu élastique excité par des céramiques piézoélectriques. Dans cet article, le processus de modélisation de la structure d'actionnement est décrit en trois étapes principales : L'étude des principes physiques de chaque composant, l'intégration des équations dans une seule expression et sa solution par un algorithme numérique. Trois approches pour l'obtention d'une onde progressive sont ensuite étudiées.
Journal of Intelligent Material Systems and Structures
This paper aims to implement the controllable deformation of a structure using Shape Memory Alloy... more This paper aims to implement the controllable deformation of a structure using Shape Memory Alloys (SMA) actuators. A sensorless displacement estimation method is proposed. This method is tested on a prototype composed of a disc, beams, and SMA actuators. By measuring the variation of electrical resistivity in SMA springs, as a feedback signal in the closed-loop position control, the surface displacement is obtained without any external displacement sensor. The proposed method is validated by comparing the displacement values estimated by the electrical resistivity measurement with those measured by a laser sensor. The estimated displacement and the measured displacement follow the reference displacement with steady-state errors, respectively of 1.14% and 0.42%.
The present invention relates to a piezoelectric device (1) comprising: a flexible plate (2), at ... more The present invention relates to a piezoelectric device (1) comprising: a flexible plate (2), at least three unaligned piezoelectric transducers (3) attached onto a single surface of the plate (2), and a sinusoidal voltage generator (4) that generates sinusoidal voltage and is connected to at least one piezoelectric transducer (3) such as to generate a traveling wave in the flexible plate (2). The piezoelectric device (1) is characterized in that the flexible plate (2) supporting the at least three piezoelectric transducers (3) is mobile, the generated traveling wave being capable of moving the flexible plate (2).
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Papers by Yves Bernard