Robust Optimal Control of Step Motors by Lead Angle Selection (Incremental Motion)

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2014

Author dc:creator

• Brown, Ronald Howard

• Engineering, Electronics and Electrical

Identifier

(UMI)AAI8623262

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/69338