Piezo stack actuator saturation control of the coupled active suspended handle-die grinder using various PID-anti-windup control schemes

Abstract

Anti-windup schemes can be used to reduce the effect of piezo actuator saturation for the tracking and positioning applications. In the case of applying the anti-windup scheme for the vibration attenuation, the saturation of the piezo actuator has never been considered. In this paper, three PID-anti-windup control schemes; Clamping (PID-CAW), Back-Calculation (PID-BCAW) and Tracking Mode (PID-TMAW) anti-windup were modified based on the measured piezo stack actuator voltage and force saturation and their performance in reducing the vibration from the die-grinder to the suspended handle model were compared. The dynamic model of the suspended handle was experimentally developed and the base excitation was taken from the die-grinder with an operating speed of 25 000 rpm. From the results, the PID-TMAW have produced the highest vibration attenuation of 90.3 % for the coupled-active suspended handle-die grinder model compared to the PID-BCAW and PID-CAW with 90 % and 89.5 % of vibration attenuation, respectively.