Full state feedback control of galvanometer scanning system

Abstract

Voice coil actuators are devices used for moving an inertial load at extremely high accelerations and relocating it within micrometers over a limited range of travel. The motion produced may be linear or rotational and the travel times may be in the order of milliseconds or less. These actuators have applications in computer disk drives, high speed lens focusing, servo valves and laser scanning tools. In this thesis a digital controller is developed for use in voice coil actuator applications. The controller is designed for high accuracy and a fast dynamic response. Two design methods are presented both of which are developed, simulated and implemented using a laser-scanner experimental rig. In voice coils based systems, the instantaneous rotor position is normally measured using an electro-mechanical sensor connected to the shaft. The elimination of the electo-mechamcal sensor is considered. Simulation and experimental results are presented for the laser scanning system operating under normal (with a sensor) and 'sensorless' control