Hardware-Accelerated Embedded Controller for a Piezoelectric Haptic Feedback System
A. Engel, P. Hildebrand, P.P. Pott, H.F. Schlaak, A. Koch
Technische Universität Darmstadt, Darmstadt, Germany
Piezo-electric ultrasonic actuators offer large static torque and precise rotary motion while avoiding self-motion when un-powered. In this work, a U164-11 ultrasonic piezo-electric module driving an Al2O3 ceramic ring is controlled by a Xilinx Spartan 6 FPGA to implement a haptic feedback system. The controller supports a runtime-adjustable capture detent resolution to enable the input of discrete values from varying domains. Furthermore, a hardware-accelerated speed control loop is implemented to compensate deviations of the motor speed caused by external forces. The control loop is executed in 12.5 ns and reduces the friction-induced fluctuations of the motor rotary-speed by 39 %.
ACTUATOR 2014 Manuscript Poster 05
Publication date: 09/04/2015
Manuscript Poster 05 published in Conference Proceedings ACTUATOR 2014
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