Abstract
This paper proposes an electromagnetic position estimation system suitable for linear actuators. The inexpensive non-contacting position measurement system is composed of an electromagnet on the stationary cylinder and a magnetic sensor on the moving piston rod of the actuator. The current supply to the electromagnet is actively controlled to track a desired current profile based on the instantaneous position estimate. The desired current profile increases monotonically with position to achieve accurate position estimation even for regions with low magnetic sensitivity. A nonlinear observer is designed based on Lyapunov theory to ensure asymptotically stable position estimation and current tracking. The active position system is experimentally validated using a piston-cylinder setup with 20 cm stroke length. Experimental results show that the active position estimation system can achieve 1% measurement accuracy over the entire stroke length while a system with constant current consuming the same average power shows nearly twice the estimation error.
Original language | English (US) |
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Title of host publication | 2020 American Control Conference, ACC 2020 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 1347-1352 |
Number of pages | 6 |
ISBN (Electronic) | 9781538682661 |
DOIs | |
State | Published - Jul 2020 |
Event | 2020 American Control Conference, ACC 2020 - Denver, United States Duration: Jul 1 2020 → Jul 3 2020 |
Publication series
Name | Proceedings of the American Control Conference |
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Volume | 2020-July |
ISSN (Print) | 0743-1619 |
Conference
Conference | 2020 American Control Conference, ACC 2020 |
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Country/Territory | United States |
City | Denver |
Period | 7/1/20 → 7/3/20 |
Bibliographical note
Funding Information:This research was supported in part by a research grant from the National Science Foundation (NSF Grant CMMI 1562006).
Publisher Copyright:
© 2020 AACC.
Keywords
- Industrial actuators
- active sensing
- electromagnetic position sensing
- position estimation