De nos jours, les systèmes intègrent de plus en plus de fonctionnalités dans des volumes de plus en plus petits grâce aux microcomposants intégrés. L'assemblage de ces microcomposants nécessite des systèmes de manipulation précis et reproductibles. Un nombre considérable de recherches ont été menées afin de mettre au point des actionneurs et des microrobots capables d'effectuer des tâches de positionnement ou de manipulation avec des précisions microniques voire submicroniques. Les technologies piézoélectriques jouent un rôle fondamental dans les applications de positionnement à résolution nanométrique ou même inférieure. Ces matériaux permettent la conception et le développement de systèmes de positionnement avec résolution et bande passante élevées. Cependant, des effets non linéaires tels que l'hystérésis et la dérive lente affectent la précision de la position des systèmes à base piézoélectrique s'ils ne sont pas contrôlés. Souvent, des capteurs de position sont montés sur ces systèmes pour permettre un contrôle en boucle fermée et l'élimination des effets d'hystérésis et de dérive lente. Néanmoins, l'intégration de capteurs permettant un asservissement robuste et de qualité pose des problèmes spécifiques aux microrobots. Cela est particulièrement vrai lorsque le nombre de degrés de liberté augmente. En effet, les capteurs de position qui jouissent d'une bonne résolution et précision sont généralement très volumineux et coûteux. Les solutions alternatives à l’intégration de capteurs de position externes peuvent être regroupées en deux catégories: soit par contrôle en boucle ouverte, également appelé schémas de contrôle prédictifs, soit par des techniques basées sur le contrôle par auto-détection (Self-Sensing Actuation - SSA), c’est-à-dire un contrôle en boucle fermée utilisant l'actionneur piézoélectrique comme son propre capteur.Dans cette thèse, l'objectif est de concevoir et de contrôler un système de positionnement basé sur la technologie piézoélectrique avec une méthode de mesure intégrée par SSA et ayant plusieurs degrés de liberté. À cette fin, les deux classes de SSA, à savoir le SSA basé sur l’effet direct piézoélectrique et le SSA basé sur la modification des propriétés électriques de l'actionneur piézoélectrique (PEA), sont étudiées en profondeur afin de déterminer celle qui convient le mieux au contrôle de la force et de la position dans les actionneurs piézoélectriques caractérisés par le fluage et non-linéarités d'hystérésis et consacrés à des opérations précises. De plus, cette étude présente un modèle constitutif et une technique d’identification de paramètres améliorés, qui prend en compte l’effet de couplage électromécanique et les non linéarités sur les propriétés du matériau piézoélectrique (constantes élastiques et diélectriques).Une nouvelle technique d'évaluation en temps réel des propriétés électriques du PEA est développée. Cette évaluation est basée sur la mesure de l’amplitude du courant de détection résultant de l’application d’une tension d’entrée haute fréquence de faible amplitude superposée à la tension d’entrée de commande qui actionne le PEA. Ensuite, un estimateur qui utilise le courant de détection pour estimer la position du PEA est conçu. Enfin, une plate-forme microrobotique pour le positionnement planaire à haute résolution avec la mesure intégrée par SSA développée est présentée. / Currently, systems integrate more and more functionalities into smaller volumes thanks to embedded micro-components. The assembly of those components requires precise and repeatable systems of manipulation. Substantial amounts of research have been carried out for developing actuators and microrobots to perform positioning or manipulation with micron- or even submicron accuracies. Piezoelectric technologies play a fundamental role in positioning applications with nanoscale or even lower resolution. These materials make possible the design and development of positioning systems with high resolution and bandwidth. However, nonlinear effects such as hysteresis and creep affect the position accuracy of piezoelectric-based systems if not controlled. Often, position sensors are mounted to these systems to permit a feedback control and the elimination of the hysteresis and creep effects. Nonetheless, the integration of sensors to enable quality and robust servo control poses specific problems for microrobots. This is especially true when the number of degrees of freedom (DOF) increases. Precision position sensors are usually very bulky and expensive. Alternative solutions to the integration of external position sensors can be grouped into two categories: either by open-loop control, also called feedforward control schemes or by Self-Sensing Actuation (SSA) control-based techniques, that is, a feedback control that uses the piezoelectric actuator as its own sensor.In this thesis, the objective is to design and control a piezoelectric-based positioning system with an embedded measurement by SSA method and having several degrees of freedom. To this end, the two classes of SSA, namely SSA based on the piezoelectric direct effect and the SSA based on the change of electrical properties of the piezoelectric actuator (PEAs), are studied in depth to determine the more adequate for force and position control in piezoelectric actuators typified by creep and hysteresis nonlinearities and devoted to precise operations. Additionally, from this study, an improved constitutive model and parameter identification technique are presented which includes the electromechanical coupling effect on the piezoelectric material properties (elastic and dielectric constants).A novel technique for real-time evaluation of the PEA's electrical properties is developed. This evaluation is based on the measurement of the amplitude of the detection current that results from the application of high-frequency low amplitude input voltage that is superimposed to the control input voltage which actuates the PEA. Then an estimator that uses the detection current to estimate the PEA's position is designed. Finally, a microrobotics platform for planar positioning with high resolution and the developed embedded measurement by SSA is presented.

The research presented in this thesis uses the macro-fiber composite (MFC) actuator that was recently developed at the NASA Langley Research Center for two major themes, sensing and actuation for vibration control, and power harvesting. The MFC is constructed using piezofibers embedded in an epoxy matrix and coated with Kapton skin. The construction process of the MFC affords it vast advantages over the traditionally used piezoceramic material. The MFC is extremely flexible, allowing it to be bonded to structures that have curved surface without fear of accidental breakage or additional surface treatment as is the case with monolithic piezoceramic materials. Additionally the MFC uses interdigitated electrodes that capitalize on the higher d33 piezoelectric coupling coefficient that allow it to produce higher forces and strain than typical monolithic piezoceramic materials. The research presented in this thesis investigates some potential applications for the MFC as well as topics in power harvesting. This first study performed was to determine if the MFC is capable of being used as a sensor for structural vibration. The MFC was incorporated into a self-sensing circuit and used to provide collocated control of an aluminum beam. It was found that the MFC makes a very accurate sensor and was able to provide the beam with over 80% vibration suppression at its second resonant frequency. Following this work, the MFC was used as both a sensor and actuator to apply multiple-input-multiple-output vibration control of an inflated satellite component. The control system used a positive position feedback (PPF) controller and two pairs of sensors and actuators in order to provide global vibration suppression of an inflated torus. The experiments found that the MFC and control system was very effective at attenuating the vibration of the first mode but ineffective at higher modes. It was found the positioning of the sensors and actuators on the structure contributed heavily to the controller's performance at higher modes. A discussion of the reasons for the controller's ineffectiveness is supply and a solution using self-sensing techniques for collocated vibration suppression was investigated. Subsequent to the research in vibration sensing and control, the ability to use piezoelectric materials to convert ambient vibration into usable electrical energy was tested and quantified. First, a model of a power harvesting beam is developed using variational methods and is validated on a composite structure containing four separate piezoelectric wafers. It is shown that the model can accurately predict the power generated from the vibration of a cantilever beam regardless of the load resistance or excitation frequency. The damping effects of power harvesting on a structure are also demonstrated and discussed using the model. Next, the ability of the piezoelectric material to recharge a battery and a quantification of the power generated are investigated. After determining that the rechargeable battery is compatible with the power generated through the piezoelectric effect, the MFC was compared with the traditional monolithic PZT for use as a power harvesting material. It was found that the MFC produces a very low current, making it less efficient than the PZT material and unable to charge batteries because of their need for relatively large current. Due to the MFC being incapable of charging batteries, only the PZT was used to charge batteries and the charge times for several nickel metal hydride batteries ranging from 40 to 1000mAh are supplied. / Master of Science

Smart structures are relevant and significant because of their relevance to phenomena such as hazard mitigation, structural health monitoring and energy saving. Electrical resistance could potentially serve as an indicator of structural well-being or damage in the structure. To this end, the development of a microprocessor-based automated resistance measurement system with customized GUI is desired. In this research, a nodal electrical resistance acquisition circuit (NERAC) system was designed. The system hardware interfaces to a laptop, which houses a customized GUI developed using DAQFactory software. Resistance/impedance was measured using DC/AC methods with four-point probes technique, on three substrates. Baseline reading before damage was noted and compared with the resistance measured after damage. The device was calibrated and validated on three different substrates. Resistance measurements were taken from PVDF samples, composite panels and smart concrete. Results conformed to previous work done on these substrates, validating the effective working of the NERAC device.

There is a growing interest in the field of Dielectric Elastomer Actuators (DEAs).A DEA consists of a thin DE lm coated with a compliant electrode. It expandsin planar directions and contracts in thickness under a driving voltage. Becauseof the similar actuation capability compared with human muscles, it is oftenreferred as artificial muscle. One possible application is to integrate the DEA inwearable devices for tremor suppression. In this thesis, the development of theDEA has been advanced towards this application in three aspects: performanceenhancement, modelling accuracy and self-sensing control. The results presented demonstrate that the combination of pre-strain and motion constraining enhances the force output of the DEA significantly but it also leads to the pre-mature electric breakdown that shortens the operational life. This drawback was suppressed by optimising the electrode configuration to avoid the electrically weak regions with low thickness across the DE lm, together with the lead contact o the active electrode region. The durability of the enhanced DEA was therefore improved significantly. Polyacrylate, a commonly used DE, was characterised for dynamic mechanical loading and electrical actuation. The conventional Kelvin-Voigt model was proved to be deficient in simulating the viscoelastic behaviour of polyacrylate in the frequency domain. The error in modelling was substantially reduced using a higher material model that contains multiple spring-damper combinations. It allows the system dynamics to be shaped over frequency ranges. A detailed procedure was given to guide the parameter identification in higher order material model. A novel self-sensing mechanism that does not require superposition of drivingvoltage and excitation signal was also designed. It reconfigures the conventionalDEA to have separate electrode regions for sensing and actuating. As the DElm deforms under driving voltage, the capacitive change in the electrode regionfor sensing was measured via a capacitor bridge and used as the feedback foractuation control. The self-sensing DEA can, therefore, be implemented with anyhigh voltage power supply. Moreover, the sensing performance is demonstratedto have improved consistency without interference of the electrical field. It alsohas a unique feature of DE lm wrinkling detection.

abstract: Multiaxial mechanical fatigue of heterogeneous materials has been a significant cause of concern in the aerospace, civil and automobile industries for decades, limiting the service life of structural components while increasing time and costs associated with inspection and maintenance. Fiber reinforced composites and light-weight aluminum alloys are widely used in aerospace structures that require high specific strength and fatigue resistance. However, studying the fundamental crack growth behavior at the micro- and macroscale as a function of loading history is essential to accurately predict the residual fatigue life of components and achieve damage tolerant designs. The issue of mechanical fatigue can be tackled by developing reliable in-situ damage quantification methodologies and by comprehensively understanding fatigue damage mechanisms under a variety of complex loading conditions. Although a multitude of uniaxial fatigue loading studies have been conducted on light-weight metallic materials and composites, many service failures occur from components being subjected to variable amplitude, mixed-mode multiaxial fatigue loadings. In this research, a systematic approach is undertaken to address the issue of fatigue damage evolution in aerospace materials by: (i) Comprehensive investigation of micro- and macroscale crack growth behavior in aerospace grade Al 7075 T651 alloy under complex biaxial fatigue loading conditions. The effects of variable amplitude biaxial loading on crack growth characteristics such as crack acceleration and retardation were studied in detail by exclusively analyzing the influence of individual mode-I, mixed-mode and mode-II overload and underload fatigue cycles in an otherwise constant amplitude mode-I baseline load spectrum. The micromechanisms governing crack growth behavior under the complex biaxial loading conditions were identified and correlated with the crack growth behavior and fracture surface morphology through quantitative fractography. (ii) Development of novel multifunctional nanocomposite materials with improved fatigue resistance and in-situ fatigue damage detection and quantification capabilities. A state-of-the-art processing method was developed for producing sizable carbon nanotube (CNT) membranes for multifunctional composites. The CNT membranes were embedded in glass fiber laminates and in-situ strain sensing and damage quantification was achieved by exploiting the piezoresistive property of the CNT membrane. In addition, improved resistance to fatigue crack growth was observed due to the embedded CNT membrane. / Dissertation/Thesis / Doctoral Dissertation Mechanical Engineering 2018

Active magnetic bearings (AMBs) have become a key technology in industrial applications with a continued drive for cost reduction and an increase in reliability. AMBs require position feedback to suspend the rotor. Conventional contactless position sensors are used to measure the rotor's position. The major disadvantages of conventional position sensors are their cost and that the sensors are viewed as a weak point in an AMB system. A self-sensing sensor is a type of sensor which is cost effective, reduces sensor wire-length and increases reliability, thus ideal for the industry. This type of sensor relies on the current and voltage signals of the AMB's to obtain the rotor position. Due to the rapid and advanced development of digital electronics, it has become more powerful and cheaper, thus self-sensing in mass production will be cost effective. Different self-sensing approaches were developed in the past and can be divided into two main categories: state estimation and amplitude modulation approaches. In this research the focus will be on the amplitude modulation approach. Amplitude modulation makes use of two signals, namely the modulation signal and the carrier signal. In a self-sensing AMB system the carrier can be a high frequency component injected into the system or the switching ripple of the switch mode power amplifier can be used. The modulation signal is the change in rotor position which results in changing inductances. The actuator material introduces nonlinear effects on the estimated position. Due to these nonlinear effects, it is rather difficult to obtain the rotor position. The first industrial application of a self-sensing turbomolecular pump system was implemented in 2005 by S2M. The aim of this thesis is to evaluate existing self-sensing schemes, devise improvements and investigate possible new schemes. Four different demodulation methods and two new self-sensing schemes are evaluated. An AMB transient simulation model which includes saturation, hysteresis, eddy currents and cross-coupling is used to evaluate the schemes in simulation. The self-sensing schemes are implemented in hardware and evaluated on a 7 A rms 500 N AMB. A comparative study was done on the different self-sensing schemes. From the comparative study it was determined that the gain- and phase effects have a direct effect on the sensitivity of the system. It was also proved that self-sensing can be implemented on a coupled AMB with a sensitivity of 10.3 dB. / Thesis (Ph.D. (Electrical and Electronic Engineering))--North-West University, Potchefstroom Campus, 2009.

Active magnetic bearings (AMBs) have become a key technology in industrial applications with a continued drive for cost reduction and an increase in reliability. AMBs require position feedback to suspend the rotor. Conventional contactless position sensors are used to measure the rotor's position. The major disadvantages of conventional position sensors are their cost and that the sensors are viewed as a weak point in an AMB system. A self-sensing sensor is a type of sensor which is cost effective, reduces sensor wire-length and increases reliability, thus ideal for the industry. This type of sensor relies on the current and voltage signals of the AMB's to obtain the rotor position. Due to the rapid and advanced development of digital electronics, it has become more powerful and cheaper, thus self-sensing in mass production will be cost effective. Different self-sensing approaches were developed in the past and can be divided into two main categories: state estimation and amplitude modulation approaches. In this research the focus will be on the amplitude modulation approach. Amplitude modulation makes use of two signals, namely the modulation signal and the carrier signal. In a self-sensing AMB system the carrier can be a high frequency component injected into the system or the switching ripple of the switch mode power amplifier can be used. The modulation signal is the change in rotor position which results in changing inductances. The actuator material introduces nonlinear effects on the estimated position. Due to these nonlinear effects, it is rather difficult to obtain the rotor position. The first industrial application of a self-sensing turbomolecular pump system was implemented in 2005 by S2M. The aim of this thesis is to evaluate existing self-sensing schemes, devise improvements and investigate possible new schemes. Four different demodulation methods and two new self-sensing schemes are evaluated. An AMB transient simulation model which includes saturation, hysteresis, eddy currents and cross-coupling is used to evaluate the schemes in simulation. The self-sensing schemes are implemented in hardware and evaluated on a 7 A rms 500 N AMB. A comparative study was done on the different self-sensing schemes. From the comparative study it was determined that the gain- and phase effects have a direct effect on the sensitivity of the system. It was also proved that self-sensing can be implemented on a coupled AMB with a sensitivity of 10.3 dB. / Thesis (Ph.D. (Electrical and Electronic Engineering))--North-West University, Potchefstroom Campus, 2009.

Due to their frictionless operation active magnetic bearings (AMBs) are essential components in high-speed rotating machinery. Active magnetic control of a high speed rotating rotor requires precise knowledge of its position. Self-sensing endeavours to eliminate the required position sensors by deducing the rotor’s position from the voltages and currents with which it is levitated. For self-sensing AMBs to be of practical worth, they have to be robust. Robustness analysis aims to quantify a control system’s tolerance for uncertainty. In this study the stability margin of a two degree-of-freedom self-sensing AMB is estimated by means of μ-analysis. Detailed black-box models are developed for the main subsystems in the AMB by means of discrete-time system identification. Suitable excitation signals are generated for system identification in cognisance of frequency induced nonlinear behaviour of the AMB. Novel graphs that characterize an AMB’s behaviour for input signals of different amplitudes and frequency content are quite useful in this regard. In order to obtain models for dynamic uncertainty in the various subsystems (namely the power amplifier, self-sensing module and AMB plant), the identified models are combined to form a closed-loop model for the self-sensing AMB. The response of this closed-loop model is compared to the original AMB’s response and models for the dynamic uncertainty are empirically deduced. Finally, the system’s stability margin for the modelled uncertainty is estimated by means of μ-analysis. The potentially destabilizing effects of parametric uncertainty in the controller coefficients as well as dynamic uncertainty in the AMB plant and self-sensing module are examined. The resultant μ-analyses show that selfsensing AMBs are much less robust for parametric uncertainty in the controller than AMBs equipped with sensors. The μ-analyses for dynamic uncertainty confirm that self-sensing AMBs are rather sensitive for variations in the plant or the self-sensing algorithm. Validation of the stability margins estimated by μ-analysis reveal that μ-analysis is overoptimistic for parametric uncertainty on the controller and conservative for dynamic uncertainty. (Validation is performed by means of Monte Carlo simulations.) The accuracy of μ-analysis is critically dependent on the accuracy of the uncertainty model and the degree to which the system is linear or not. If either of these conditions are violated, μ-analysis is essentially worthless. / Thesis (Ph.D. (Electronical Engineering))--North-West University, Potchefstroom Campus, 2010

Active magnetic bearings (AMBs) have become a key technology in industrial applications with a continued drive for cost reduction and an increase in reliability. AMBs require position feedback to suspend the rotor. Conventional contactless position sensors are used to measure the rotor's position. The major disadvantages of conventional position sensors are their cost and that the sensors are viewed as a weak point in an AMB system. A self-sensing sensor is a type of sensor which is cost effective, reduces sensor wire-length and increases reliability, thus ideal for the industry. This type of sensor relies on the current and voltage signals of the AMB's to obtain the rotor position. Due to the rapid and advanced development of digital electronics, it has become more powerful and cheaper, thus self-sensing in mass production will be cost effective. Different self-sensing approaches were developed in the past and can be divided into two main categories: state estimation and amplitude modulation approaches. In this research the focus will be on the amplitude modulation approach. Amplitude modulation makes use of two signals, namely the modulation signal and the carrier signal. In a self-sensing AMB system the carrier can be a high frequency component injected into the system or the switching ripple of the switch mode power amplifier can be used. The modulation signal is the change in rotor position which results in changing inductances. The actuator material introduces nonlinear effects on the estimated position. Due to these nonlinear effects, it is rather difficult to obtain the rotor position. The first industrial application of a self-sensing turbomolecular pump system was implemented in 2005 by S2M. The aim of this thesis is to evaluate existing self-sensing schemes, devise improvements and investigate possible new schemes. Four different demodulation methods and two new self-sensing schemes are evaluated. An AMB transient simulation model which includes saturation, hysteresis, eddy currents and cross-coupling is used to evaluate the schemes in simulation. The self-sensing schemes are implemented in hardware and evaluated on a 7 A rms 500 N AMB. A comparative study was done on the different self-sensing schemes. From the comparative study it was determined that the gain- and phase effects have a direct effect on the sensitivity of the system. It was also proved that self-sensing can be implemented on a coupled AMB with a sensitivity of 10.3 dB. / Thesis (Ph.D. (Electrical and Electronic Engineering))--North-West University, Potchefstroom Campus, 2009.

Due to their frictionless operation active magnetic bearings (AMBs) are essential components in high-speed rotating machinery. Active magnetic control of a high speed rotating rotor requires precise knowledge of its position. Self-sensing endeavours to eliminate the required position sensors by deducing the rotor’s position from the voltages and currents with which it is levitated. For self-sensing AMBs to be of practical worth, they have to be robust. Robustness analysis aims to quantify a control system’s tolerance for uncertainty. In this study the stability margin of a two degree-of-freedom self-sensing AMB is estimated by means of μ-analysis. Detailed black-box models are developed for the main subsystems in the AMB by means of discrete-time system identification. Suitable excitation signals are generated for system identification in cognisance of frequency induced nonlinear behaviour of the AMB. Novel graphs that characterize an AMB’s behaviour for input signals of different amplitudes and frequency content are quite useful in this regard. In order to obtain models for dynamic uncertainty in the various subsystems (namely the power amplifier, self-sensing module and AMB plant), the identified models are combined to form a closed-loop model for the self-sensing AMB. The response of this closed-loop model is compared to the original AMB’s response and models for the dynamic uncertainty are empirically deduced. Finally, the system’s stability margin for the modelled uncertainty is estimated by means of μ-analysis. The potentially destabilizing effects of parametric uncertainty in the controller coefficients as well as dynamic uncertainty in the AMB plant and self-sensing module are examined. The resultant μ-analyses show that selfsensing AMBs are much less robust for parametric uncertainty in the controller than AMBs equipped with sensors. The μ-analyses for dynamic uncertainty confirm that self-sensing AMBs are rather sensitive for variations in the plant or the self-sensing algorithm. Validation of the stability margins estimated by μ-analysis reveal that μ-analysis is overoptimistic for parametric uncertainty on the controller and conservative for dynamic uncertainty. (Validation is performed by means of Monte Carlo simulations.) The accuracy of μ-analysis is critically dependent on the accuracy of the uncertainty model and the degree to which the system is linear or not. If either of these conditions are violated, μ-analysis is essentially worthless. / Thesis (Ph.D. (Electronical Engineering))--North-West University, Potchefstroom Campus, 2010