Design, Simulation and Implementation of High Precision Control Algorithms for a Galvanometer Laser Scanner
Date
2014-08-26
Authors
Torres Bonet, Tomas
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Abstract
This thesis 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 veri ed using closed
loop identi cation 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 50 rad.
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Keywords
iterative learning control, ILC, RST, Polynomial control, Adaptive feed forward control, AFC, PID, galvanometer