Sawyer Motor Setup
A Sawyer motor is a dual axis hybrid
stepper motor. The Sawyer motor is floated on a waffle steel
platen on an air bearing. The motor is connected to an umbilical which
supplies air for the air bearing and currents for the electrical
windings. The motor housing contains four forcers symmetrically
placed on each side of the housing. A pair of forcers are used to
generate forces
in a particular direction. A typical Sawyer motor is operated using open-loop control which typically has a resolution of 2 μm.
The images below show the modified setup for closed-loop control. The Sawyer motor used has 4 optical sensors capable of 0.25 μm resolution. PD, PID and adaptive non-linear controllers were tested on the setup. Improved total move time, settling time and reduced steady-state error was observed experimentally.
in a particular direction. A typical Sawyer motor is operated using open-loop control which typically has a resolution of 2 μm.
The images below show the modified setup for closed-loop control. The Sawyer motor used has 4 optical sensors capable of 0.25 μm resolution. PD, PID and adaptive non-linear controllers were tested on the setup. Improved total move time, settling time and reduced steady-state error was observed experimentally.
