@inproceedings{8fbdd0ac632548d39165796434ec535d,
title = "Control model for an over-determined fluid dynamic planar drive",
abstract = "A compact planar drive for the use in small machine tools has been developed. It is based on a fluid dynamic drive principle which enables translational motion in x- And y-direction as well as unlimited rotations around the z- Axis in any position. Thrust forces are generated by deflection of 12 individually controlled fluid jets on the slide's flow grids. This paper presents a three-layer control system for the novel drive. The top-level motion control calculates decoupled drive forces and torque for the slide's three mechanical degrees of freedom (DOF). Since the drive is over- Actuated with 12 control inputs for the three DOFs, a control allocation algorithm coordinates the redundant thrust forces. The bottom level features the valve control for every single jet. First experiments demonstrate the functionality and limitations of the control system.",
keywords = "Control allocation, Fluid dynamic planar drive, Micro machining",
author = "B. Denkena and D. Dahlmann and T. Schumacher",
year = "2016",
month = jun,
day = "1",
language = "English",
series = "Proceedings of the 16th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2016",
publisher = "euspen",
editor = "P. Bointon and Richard Leach and N. Southon",
booktitle = "Proceedings of the 16th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2016",
note = "16th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2016 ; Conference date: 30-05-2016 Through 03-06-2016",
}