Control of high-performance mini- and microscale electrical cylinders

The focus of this paper is the application of mini and microscale electrical cylinders as high-performance translational actuators that guarantee fast and precise positioning. The objectives are to design, analyze, test and compare different control algorithms for closed-loop electrical cylinders with permanent-magnet direct current and synchronous servomotors. These electrical cylinders are widely used in aerospace, automotive, robotics and other electromechanical systems. For example, electrical cylinders displace the control surfaces of flight and undersea vehicles, robotic arms, etc. The major emphases are placed in the analysis and design of affordable, robust, efficient, and high torque density servos. Electrical cylinders with different servomotors are tested in order to examine alternative solutions. The performance comparison is made for electrical cylinders regulated using distinct controllers. These control laws are designed and implemented using advanced DSP, microcontrollers and VLSI controllers-drivers. We synthesize proportional-integral-derivative (PID), nonlinear, relay, and sliding mode controllers to guarantee the optimal (achievable) dynamic performance, stability, robustness, accuracy, etc. For different commands (angular or linear position and acceleration) and loads, accurate positioning and tracking with zero steady-state error are achieved. Our results illustrate that electrical cylinders with synchronous servomotors are the preferable solution in high-performance applications.