Robust Optimal Control of Step Motors by Lead Angle Selection (Incremental Motion)
Brown, Ronald Howard
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https://hdl.handle.net/2142/69338
Description
Title
Robust Optimal Control of Step Motors by Lead Angle Selection (Incremental Motion)
Author(s)
Brown, Ronald Howard
Issue Date
1986
Department of Study
Electrical Engineering
Discipline
Electrical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Abstract
When step motors are used as the actuator in an incremental motion control system, there is a need to control the step motor to move quickly from one point to another. In this thesis, a near-optimal control for the point-to-point move has been developed that is implementable in real time. Four lead-angle function controls are developed for acceleration, deceleration, and damping. An algorithm for determining the point between the acceleration and deceleration portions of a move is presented. Motor and load models for dynamic characterization are discussed, along with variable observers and parameter identifiers.
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