The New Jersey Institute of Technology's
Electronic Theses & Dissertations Project

Title:	Single-axis agonistic motion control system with electro-magnetic actuators
Author:	Rokhvarg, Alexander
View Online:	njit-etd1995-032 (xiv, 93 pages ~ 4.4 MB pdf)
Department:	Department of Electrical and Computer Engineering
Degree:	Master of Science
Program:	Electrical Engineering
Document Type:	Thesis
Advisory Committee:	Friedland, Bernard (Committee chair) Meyer, Andrew Ulrich (Committee member) Chang, Timothy Nam (Committee member) Hubbi, Walid (Committee member)
Date:	1995-01
Keywords:	Motion control devices. Actuators.
Availability:	Unrestricted
Abstract:	A novel single-axis motion control system using solenoid electromagnet actuators is built and successfully controlled using a non-linear real-time control algorithm. Procedures for defining and modeling the electromagnetic actuator are established and implemented. Discrete-time nonlinear control law with global asymptotic stability and zero steady-state error is designed and numerically optimized. Stable operation with small-signal 0dB crossover frequency of 370 Rad/sec and positioning RMS steady-state error of better than 4 micron is achieved. Time domain parameters are verified on a working prototype. A step reference response positioning a 0.35 Kg mass payload over 1 cm travel in under 30 milliseconds is demonstrated.