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

104 p.Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1986.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.U of I OnlyRestricted to the U of I community idenfinitely during batch ingest of legacy ETD