Single-axis agonistic motion control system with electro-magnetic actuators
Department of Electrical and Computer Engineering
Master of Science
Meyer, Andrew Ulrich
Chang, Timothy Nam
Motion control devices.
A novel single-axis motion control system using solenoid electromagnet actuators is built and successfully controlled using a non-linear real-time control algorithm. Procedures for defining and modeling the electromagnetic actuator are established and implemented. Discrete-time nonlinear control law with global asymptotic stability and zero steady-state error is designed and numerically optimized. Stable operation with small-signal 0dB crossover frequency of 370 Rad/sec and positioning RMS steady-state error of better than 4 micron is achieved. Time domain parameters are verified on a working prototype. A step reference response positioning a 0.35 Kg mass payload over 1 cm travel in under 30 milliseconds is demonstrated.
njit-etd1995-032 (110 pages ~ 4,515 KB pdf)
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Created August 25, 2009