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ICRA
1998
IEEE

3-DOF Closed-Loop Control for Planar Linear Motors

10 years 6 months ago
3-DOF Closed-Loop Control for Planar Linear Motors
Planar linear motors Sawyer motors have been used in industry as open-loop stepping motors, but their robustness and versatility has been limited. Using a sensor recently integrated into such a motor, a closed-loop 3-DOF controller has been implemented. The software-based control system consists of a commutator for computing ampli er currents from actuator forces, a force resolution function for solving the redundant actuation and saturation problems, and an observer for producing a velocity estimate, together with a PID controller. Experiments are performed using a 2-axis laser interferometer to show that the controller has sub-micron resolution, 2 m peak-to-peak repeatability, and settling times after trajectories of about 20 ms. Limitations of the PID controller are discussed and ideas for improvements are presented.
Arthur E. Quaid, Ralph L. Hollis
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1998
Where ICRA
Authors Arthur E. Quaid, Ralph L. Hollis
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