An Adaptive Self-Sensing Strategy for Dynamic Mass Estimation using Piezoelectrically-Driven Cantilevers
- Resource Type
- Conference
- Authors
- Gurjar, M.; Jalili, N.
- Source
- 2007 American Control Conference American Control Conference, 2007. ACC '07. :2915-2920 Jul, 2007
- Subject
- Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Capacitance
Bridge circuits
Structural beams
Piezoelectric actuators
Frequency estimation
Stability analysis
Adaptive estimation
Frequency measurement
Particle measurements
Particle beams
- Language
- ISSN
- 0743-1619
2378-5861
This paper presents an adaptive estimation strategy to dynamically balance a self-sensing capacitance bridge network for cantilever-based tip mass estimation. The system comprises of a cantilever beam with a piezoelectric patch actuator deposited on the beam surface, connected in a capacitance bridge network. The goal is to estimate the mass of a particle deposited on the cantilever tip by measuring the associated shift in the beam natural frequency. The piezoelectric patch behaves as a self-sensing actuator. Accurate balance of the capacitance bridge is a key requirement for the self-sensing network to function properly. In this paper, a prediction-error-based mechanism is presented to estimate the actuator capacitance and keep the bridge dynamically balanced. The adaptation law uses a generalized form of the gradient estimation method. Lyapunov-based stability analysis is carried out to prove the global stability of the law. A modified gradient estimation method, which is relatively easy to implement, is shown to be a special case of the generalized mechanism. Experimental results are presented to demonstrate the working of this estimation strategy.