Identification and Compensation of Dynamic Interaction in a Non-Contact Dual-Stage Actuator System

Abstract

Dynamic interaction seriously limits the overall performance of a Dual-Stage Actuator (DSA) system. This paper aims to identify and compensate for the dynamic interaction in a non-contact DSA system. The effects of the interaction in the non-contact DSA system are initially classified as non-contact position-dependent disturbance forces (PDDFs) and velocity-dependent disturbance forces (VDDFs). The PDDFs in the three degrees of freedom (DoFs) motion space between the two stages of the DSA system are directly identified in the time domain, and VDDFs are indirectly identified in the form of damping values in frequency domains. The feedforward networks of the force are subsequently applied to compensate the PDDFs and VDDFs, which are indexed with relative displacement and velocity, respectively. Experiments are finally conducted to investigate the effectiveness of compensation, which infers that the final positioning error in the time domain can be reduced from 260 nm to 130 nm with PDDFs and VDDFs compensation. The gain of the interaction transfer is decreased in the frequency range of up to 45 Hz with PDDFs and VDDFs compensation. With this method, some weak dynamic interaction can be completely compensated for by the force feedforward compensation, and the positioning accuracy of non-contact DSA systems can be greatly improved.