Nonlinear Modelling, Dynamic Performances and control of an Electrical Syringe Pump Using a Linear Actuator

Abstract

This article discusses the non-linear improved modelling approach, dynamic performances with and without saturation and closed loop control of an electrical syringe pump using a linear actuator. This work is intended for the mathematical characterization and setting equation of LSRM including the effect of magnetic nonlinearities. The work is beginning by the modelling of the inductance variation versus current. This variation is analytically described using Fourier series and the polynomial functions are used to express the nonlinear variation of its coefficients versus current. The second step is reserved to the prediction of the dynamic performances, taking into account the saturation phenomenon. Finally, the linear stepper motors movement is characterized by a highly oscillatory translation, which is troublesome for the positional accuracy and the speed constant such as depend by many industrial applications such as the syringe pump. Thus, in order to attenuate the amplitudes of these oscillations and guarantee the positioning of the actuator without errors, solutions exploiting closed-loop control techniques are proposed in this paper for the purpose of improve the actuator performances.