Resolver-based, Closed-loop Position and Velocity Control for the Lansce-r Wire Scanner*

This study evaluates a technique for the closed-loop position and velocity control of a wire scanner actuator. The focus of this technique is to drive a stepper motordriven actuator through a 1-mm move using a combination of velocity feedback control and position feedback control. More specifically, the velocity feedback control will be utilized to provide a smooth motion as the controller drives the actuator through a preplanned motion profile. Once the controller has positioned the actuator within a certain distance of the target position, the controller will transition to positionbased feedback control, bringing the actuator to its target position and completing the move. Position and velocity data is presented detailing how the actuator performed relative to its commanded movement. Finally, the layout of, and algorithms employed by the wire scanner control system are presented.