Event Details
Design, Simulation and Implementation of High Precision Control Algorithms for a Galvanometer Laser Scanner
Presenter: Tomas Torres Bonet
Supervisor: Dr. Pan Agathoklis
Date: Thu, July 10, 2014
Time: 14:00:00 - 15:00:00
Place: EOW 230
ABSTRACT
ABSTRACT:
This work focuses on the theory, design, simulation and implementation of several digital controllers for periodic signals on a laser scanning galvanometer. A model for the galvanometer was obtained and verified using closed loop identification techniques. Using this model, controllers were designed and simulated using MATLAB and then implemented on a custom FPGA control processor with a focus on tracking performance. The types of controllers used were: an Iterative Learning Controller, an RST pole placement controller, an Adaptive Feed-forward cancellation controller, a combined Iterative Learning and Adaptive Feed-forward cancellation controller and a simple PID controller.
The simulated results were better than the experimental results because of system noise and modelling uncertainties but the relative performance between each of the controllers was similar for both the simulation and experimental setup. The experimental results achieved were very good with one controller reaching errors under 50urad.