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A HIGH-PERFORMANCE POSITIONING SYSTEM USING IMPROVED DIGITAL SPEED SENSING
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| Author(s) |
R. C. Kavanagh; J. M. D. Murphy; M. G. Egan |
| Abstract |
A microcontroller-based positioning system which achieves very good performance in both point-to-point and profiling applications is described. Despite its modest hardware and computational requirements, accurate trajectory control is achieved using precise velocity information from an improved digital tachometer. This tachometer features a constant sample time and requires little or no supplementary hardware. lts open-loop performance is close to optimum for a given position transducer resolution and is comparable with that achieved using more complex edge-driven digital tachometers. In order to maximize the closed-loop potential of the device, a non-linear control algorithm is developed using a phase-space design technique. Fast, accurate positioning is achieved by calculating the optimum motor acceleration at each sample. The resulting control structure is simple but powerful, and facilitates adaptive load compensation and velocity profiling applications. |
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| Filename: | Unnamed file |
| Filesize: | 564.6 KB |
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| Type |
Members Only |
| Date |
Last modified 2021-02-22 by System |
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