Theory, Design and Implementation of Time Optimal Digital Position Control

Abstract

<p> The following study is an attempt to design a minimum-time digital position controller. </p> <p> The. investigation of the theoretical problem of the minimum time position control leads to a survey of stepping motors, which seem to provide a natural solution to the problem. However the permanentic d.c. motor is shown to be more suitable. Approximate switching characteristics are derived from the mathematical models chosen. </p> <p> Quantizing the shaft position, a digital controller is practically implemented and the experimental results confirm the theory. </p> <p> To solve the trickiest problem of measuring the velocity of the shaft, a new concept of digital tachometer is derived and implemented. Providing a very high precision and resolution, the new tachometer proved itself much better than any other instrument available now, and its direct application to the controller simplifies the latter and improves it considerably. </p>