University of Twente Student Theses
Controller Design for an MR-Safe Vane Motor
Blöte, Stefan (2024) Controller Design for an MR-Safe Vane Motor.
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| Abstract: | This work focuses on improving the point to point and trajectory control of a vane-type air motor. Such motors can be constructed without electrically conducting materials, making it MR-safe. However, the actuation of the vane motor through long transmission lines with inherit air compliance, in combination with worm gear friction, leads to the problem of virtual play. This presents a significant challenge for achieving optimal position accuracy. The currently used control techniques are a PD-pulse width modulation (PD-PWM) controller and a sliding mode controller (SMC). To improve control three different control techniques are proposed, including a cascade PID-PI with feedforward control, full state feedback control, and an input to output feedback linearization controller. The initially implemented controller was a cascade PID-PI controller with feedforward control, where the inner PI loop controlled the pressure, and the outer loop controlled the position. The feedforward term was added to compensate for dynamic and static friction. After that, a full state feedback (FSF) controller which utilizes the position, velocity, and the pressure at the vane motor inlet and control module as states. The results showed that the FSF controller was superior to the PID-PI-FF controller in terms of performance. Following this, the input-output feedback linearization method was used to decouple the input and output using the full state feedback controller. The results showed that only the feedback linearized controller achieved superior accuracy and repeatability in setpoint control and similar trajectory control when compared to the SMC and PD-PWM controller |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 52 mechanical engineering |
| Programme: | Mechanical Engineering MSc (60439) |
| Link to this item: | https://purl.utwente.nl/essays/97973 |
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