MIMO Self-sensing control of a piezoelectric tube scanner

Conference paper (2009)

Authors

S. Kuiper DISC - Mechanical, Maritime and Materials Engineering
G Schitter Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
DISC (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2009

Language

Undefined/Unknown

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

DISC

Abstract

Piezoelectric tube scanners are commonly used in Scanning Probe Microscopy (SPM) to provide the scanning motion of the tip or sample. Oscillations due to the weakly damped resonances of the scanner are a major souce of image distortion in SPM-imaging. In this contribution, multiple input-multiple output (MIMO) self-sensing actuation of a piezoelectric tube scanner is presented, allowing to actively dampen the scanner oscillation. By connecting the tube scanner in a capacitive bridge-circuit, the piezoelectric tube is simultaneously used as a sensor and actuator. In order to enable the use of low-order decentralized controllers, the cross-talk between both axes is reduced by compensating for the capacitive coupling. The MIMO self-sensing actuation allows to actively dampen the scanners's fundamentsl resonance by 18dB, which simultaneously reducing the resonance induced coupling by 30dB. Experimental results verify a significant reduction of the scanner oscillations in both positioning axes during fast scanning.