Dual-Axis Control Using Piezotube Actuator Based on Immune Algorithm

Abstract

Piezoelectric actuators are widely employed in micropositioning and nanopositioning due to properties of high resolution, high bandwidth, and high stiffness. This study uses an immune algorithm to control a piezotube actuator. The immune algorithm includes antigens reorganization, antigen integration and appearance, the stimulation and suppression chains between antibodies in the immune system, and immune response of artificial immune system. This study treats runout disturbance as antigens in track following whereas environment disturbance as antigens in focusing. For control robustness, we define suitable antibodies to restrain antigens. In experiments, we treat disk deformation as antigens and proportional-integral-derivative (PID) gains as antibodies. Established by PID gains, immune database helps realize the immune algorithm. In track following experiment, the closed-loop response precision is 5%.