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TECHNICAL PAPERS

An Error Space Controller for a Resonating Fiber Scanner: Simulation and Implementation

[+] Author and Article Information
Quinn Y. J. Smithwick

Human Interface Technology Lab, Department of Aeronautics and Astronautics, Department of Mechanical Engineering, University of Washington, Seattle, WA 98195

Juris Vagners

Department of Aeronautics and Astronautics, University of Washington, Seattle, WA 98195

Per G. Reinhall

Department of Mechanical Engineering, University of Washington, Seattle, WA 98195

Eric J. Seibel

Human Interface Technology Lab, University of Washington, Seattle, WA 98195

J. Dyn. Sys., Meas., Control 128(4), 899-913 (Apr 10, 2006) (15 pages) doi:10.1115/1.2362787 History: Received December 07, 2004; Revised April 10, 2006

A robust error-space controller for an amplitude modulated resonating fiber scanner is developed and implemented. Using a nonlinear dynamics model, the system’s open loop temporal response for a spiral scan pattern is simulated and compared to experiments to understand scan distortions, such as, toroid, swirl, and beating. A feedback linearized linear quadratic regulator based on error dynamics drives the tracking error to zero. Controller simulations determine robustness limits, and effects of fiber nonlinearities and actuator time delay. Using real-time hardware, the controller asymptotically tracks and is capable of removing the scan distortions. Image acquisition with the controlled scanner produces nearly pixel accurate images.

Copyright © 2006 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Resonant fiber scanner and spiral scan. (a) Resonant fiber scanner; (b) spiral scan.

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Figure 2

Scan and image acquisition system (optics not shown). Signals are labeled in brackets with directions indicated with arrows.

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Figure 3

Open loop projected image

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Figure 4

(a) Open loop acquired images; (b) reference image

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Figure 5

System open loop response (experimental)

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Figure 6

Experimental z-y plots of open loop response

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Figure 7

(a) System open loop response (simulation); (b) phase shift near modulation minimum

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Figure 8

(a),(b) Open loop response (simulation) and pixel lines (actual sample positions); (c),(d) references and pixel lines (assumed sample positions)

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Figure 9

Error space controller (one axis)

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Figure 10

(a) Controlled spiral scan simulation (clamped triangle modulated sinewave); (b) position error; (c) controlled spiral scan simulation (full triangle modulated sine wave); (d) position error

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Figure 11

(a),(b) Controlled loop response (simulation) and pixel lines (actual sample positions)

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Figure 12

(a) Tracking error response (simulation); (b) tracking error response (zoom); (c) tracking error response (zoom 2) showing harmonics

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Figure 13

Comparison of control error on system with input delay: with and without feedback linearization

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Figure 14

Experimental controlled response: (a) overall; (b) near mod min; (c) near mod max; (d) tracking error

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Figure 15

(a), (b) Experimental controlled response z-y plots; (c) error spread in radial and angular directions; (d) zoom (concentric rings of the spiral are marked by symbols xox)

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Figure 16

Controlled response error: (a) radial; (b) phase; (c) radial (zoom)

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Figure 17

(a) Closed loop acquired images; (b) reference image

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