This thesis investigates both theoretical and implementation-level aspects of switching- feedback control strategies for the development of voltage-controlled oscillators. We use a modified sliding-mode compensation scheme based on various norms of the system state to achieve amplitude control for wide-tuning range oscillators. The proposed controller provides amplitude control at minimal cost in area and power consumption. Verification of our theory is achieved with the physical realization of an amplitude controlled negative-Gm LC oscillator. A wide-tuning range RF ring oscillator is developed and simulated, showing the effectiveness of our methods for high speed oscillators. The resulting ring oscillator produces an amplitude controlled sinusoidal signal operating at frequencies ranging from 170 MHz to 2.1 GHz. Total harmonic distortion is maintained below 0:8% for an oscillation amplitude of 2 Vpp over the entire tuning range. Phase noise is measured as -105.6 dBc/Hz at 1.135 GHz with a 1 MHz offset.

An electrostatic actuator driven by conventional voltage control and charge control requires high actuation voltage and suffers from the pull-in phenomenon that limits its operation range, much less than its entire gap. To provide effective solutions to these problems, we present complete analytical and numerical models of various electrostatic actuators coupled with resonant drive circuits that are able to drive electrostatic actuators at much lower input voltage than that of conventional actuation methods and to extend their operation range beyond their conventional pull-in points in the presence of high parasitic capacitance. Moreover, in order to validate the analytical and numerical models of various electrostatic actuators coupled with the resonant drive circuits, we perform the experiment on the microplate and the micromirror coupled with the resonant drive circuit. For instance, using a high voltage amplifier, we manage to rotate the micromirror with sidewall electrodes by 6 ° at 180 V. However, using the resonant drive circuit, we are able to rotate the same micromirror by 6 ° at much lower input voltage, 8.5 V. In addition, the presented work also facilitates the stability analysis of electrostatic actuators coupled with the resonant drive circuits and provides how the effect of the parasitic capacitance can be minimized. For example, the resonant drive circuit placed within a positive feedback loop of a variable gain amplifier is able to extend the operation range much further even in the presence of very high parasitic capacitance. The resonant drive circuit with the proposed feedback controllers is also able to minimize the detrimental effects of the parasitic capacitance and to displace a parallel-plate actuator over its entire gap without the saddle-node bifurcation. Finally, we present a new displacement measurement method of electrostatic actuators coupled with the resonant drive circuits by sensing the phase delay of an actuation voltage with respect to an input voltage. This new measurement method allows us to easily implement feedback control into existent systems employing an electrostatic actuator without any modification or alteration to the electrostatic actuator itself. Hence, this research work presents the feasibility of electrostatic actuators coupled with the resonant drive circuit in various industrial and medical applications, in which the advantages of miniaturization, low supply voltage, and low power consumption are greatly appreciated.

This thesis reports the development of advanced readout and control electronics for MEMS gyroscopes developed at METU. These gyroscope electronics are separated into three main groups: high sensitive interface circuits, drive mode amplitude controlled self oscillation loops, and sense mode phase sensitive amplitude demodulators. The proposed circuits are first implemented with discrete components, and then integrated on CMOS chips. A self oscillation loop enabling constant amplitude drive mode vibrations independent of sensor parameters and ambient conditions is developed. A fully functional angular rate system, which is constructed by employing this advanced control electronics together with the transresistance amplifier type interfaces and sense mode electronics, is implemented on a dedicated PCB having 5.4x2.4 cm2 area. This system demonstrates an impressive performance far better than the best performance achieved by any angular rate system developed at METU. Bias instability and angle random walk values are measured as 14.3 &ordm / /hr and 0.126 &ordm / /&amp / #8730 / hr, respectively. The scale factor of the system is found as 22.2 mV/(&ordm / /sec) with a nonlinearity of 0.01%, and a zero rate output of 0.1 &ordm / /sec, in &plusmn / 50 &ordm / /sec measurement range. CMOS unity gain buffer (UGB) and transimpedance amplifier (TIA) type resistive and capacitive interfaces are characterized through AC, transient, and noise tests. It is observed that on chip biasing mechanisms properly DC-bias the high impedance nodes to 0 V potential. UGB type capacitive interfaces demonstrate superior performance than TIA counterparts due to stability problems associated with TIA interfaces. CMOS differential drive mode control and sense mode demodulation electronics give promising results for the future performance tests.

An electrostatic actuator driven by conventional voltage control and charge control requires high actuation voltage and suffers from the pull-in phenomenon that limits its operation range, much less than its entire gap. To provide effective solutions to these problems, we present complete analytical and numerical models of various electrostatic actuators coupled with resonant drive circuits that are able to drive electrostatic actuators at much lower input voltage than that of conventional actuation methods and to extend their operation range beyond their conventional pull-in points in the presence of high parasitic capacitance. Moreover, in order to validate the analytical and numerical models of various electrostatic actuators coupled with the resonant drive circuits, we perform the experiment on the microplate and the micromirror coupled with the resonant drive circuit. For instance, using a high voltage amplifier, we manage to rotate the micromirror with sidewall electrodes by 6 ° at 180 V. However, using the resonant drive circuit, we are able to rotate the same micromirror by 6 ° at much lower input voltage, 8.5 V. In addition, the presented work also facilitates the stability analysis of electrostatic actuators coupled with the resonant drive circuits and provides how the effect of the parasitic capacitance can be minimized. For example, the resonant drive circuit placed within a positive feedback loop of a variable gain amplifier is able to extend the operation range much further even in the presence of very high parasitic capacitance. The resonant drive circuit with the proposed feedback controllers is also able to minimize the detrimental effects of the parasitic capacitance and to displace a parallel-plate actuator over its entire gap without the saddle-node bifurcation. Finally, we present a new displacement measurement method of electrostatic actuators coupled with the resonant drive circuits by sensing the phase delay of an actuation voltage with respect to an input voltage. This new measurement method allows us to easily implement feedback control into existent systems employing an electrostatic actuator without any modification or alteration to the electrostatic actuator itself. Hence, this research work presents the feasibility of electrostatic actuators coupled with the resonant drive circuit in various industrial and medical applications, in which the advantages of miniaturization, low supply voltage, and low power consumption are greatly appreciated.

[pt] Sistemas pneumáticos são equipamentos leves, baratos, limpos e de baixo risco, sendo apropriados para aplicações que necessitem de força e rapidez de resposta. Por outro lado, esse tipo de sistema apresenta restrições devido à principal característica do ar: sua compressibilidade confere efeitos não lineares ao sistema, desde um escoamento turbulento pelas válvulas de controle até sua atuação dentro do cilindro – a qual inclui alta sensibilidade ao atrito e volumes inativos durante o curso do pistão. Essas características particulares dificultam seu controle e posicionamento preciso e limitam sua aplicação, principalmente considerando seu emprego em um mecanismo tipo Plataforma de Stewart em escala reduzida. No presente trabalho apresenta-se a modelagem, simulação computacional e análise experimental do comportamento dinâmico de um sistema de atuação pneumático que inclui uma válvula de controle de vazão não convencional, composta de quatro válvulas proporcionais, e um atuador com haste simples de dupla ação. O objetivo deste trabalho é, baseado nos resultados experimentais, determinar as características desses componentes para desenvolver estratégias de controle em tempo real capazes de minimizar os efeitos das não linearidades típicas, visando sua utilização no mecanismo anteriormente mencionado. / [en] Pneumatic equipment is lightweight, cheap, clean and low-risk, being suitable for applications that require strength and high responsiveness. Nevertheless, this type of system has some limitations due to the air main feature: its compressibility results in nonlinear effects in the system, from the turbulent flow control valves to its performance inside the cylinder - which includes high sensitivity to friction and dead volumes during the stroke piston. These particular characteristics make its control and precise positioning difficult, limiting its application, especially when considered its use in a mechanism such as a Stewart Platform in a reduced scale. The present paper presents the modeling, computational simulation and experimental analysis of the dynamic behavior of a pneumatic actuation system that includes an unconventional flow control valve, consisting of four proportional valves, and a double acting single rod actuator. The final goal of this work is to, based on experimental results, determine the characteristics of these components in order to develop real-time control strategies which can minimize the effects of those typical nonlinearities for their use in the mechanism mentioned above.

Speed, power and reliability of analogue integrated circuits (IC) exhibit temperature dependency through the modulation of one or several of the following variables: band gap energy of the semiconductor, mobility, carrier diffusion, current density, threshold voltage, interconnect resistance, and variability in passive components. Some of the adverse effects of temperature variations are observed in current and voltage reference circuits, and frequency drift in oscillators. Thermal instability of a voltage-controlled oscillator (VCO) is a critical design factor for radio frequency ICs, such as transceiver circuits in communication networks, data link protocols, medical wireless sensor networks and microelectromechanical resonators. For example, frequency drift in a transceiver system results in severe inter-symbol interference in a digital communications system. Minimum transconductance required to sustain oscillation is specified by Barkhausen’s stability criterion. However it is common practice to design oscillators with much more transconductance enabling self-startup. As temperature is increased, several of the variables mentioned induce additional transconductance to the oscillator. This in turn translates to a negative frequency drift. Conventional approaches in temperature compensation involve temperature-insensitive biasing proportional-to-absolute temperature, modifying the control voltage terminal of the VCO using an appropriately generated voltage. Improved frequency stability is reported when compensation voltage closely follows the frequency drift profile of the VCO. However, several published articles link the close association between oscillation amplitude and oscillation frequency. To the knowledge of this author, few published journal articles have focused on amplitude control techniques to reduce frequency drift. This dissertation focuses on reducing the frequency drift resulting from temperature variations based on amplitude control. A corresponding hypothesis is formulated, where the research outcome proposes improved frequency stability in response to temperature variations. In order to validate this principle, a temperature compensated VCO is designed in schematic and in layout, verified using a simulation program with integrated circuit emphasis tool using the corresponding process design kit provided by the foundry, and prototyped using standard complementary metal oxide semiconductor technology. Periodic steady state (PSS) analysis is performed using the open loop VCO with temperature as the parametric variable in five equal intervals from 0 – 125 °C. A consistent negative frequency shift is observed in every temperature interval (≈ 11 MHz), with an overall frequency drift of 57 MHz. However similar PSS analysis performed using a VCO in the temperature stabilised loop demonstrates a reduced negative frequency drift of 3.8 MHz in the first temperature interval. During the remaining temperature intervals the closed loop action of the amplitude control loop overcompensates for the negative frequency drift, resulting in an overall frequency spread of 4.8 MHz. The negative frequency drift in the first temperature interval of 0 to 25 °C is due to the fact that amplitude control is not fully effective, as the oscillation amplitude is still building up. Using the temperature stabilised loop, the overall frequency stability has improved to 16 parts per million (ppm)/°C from an uncompensated value of 189 ppm/°C. The results obtained are critically evaluated and conclusions are drawn. Temperature stabilised VCOs are applicable in applications or technologies such as high speed-universal serial bus, serial advanced technology attachment where frequency stability requirements are less stringent. The implications of this study for the existing body of knowledge are that better temperature compensation can be obtained if any of the conventional compensation schemes is preceded by amplitude control. / Dissertation (MEng)--University of Pretoria, 2013. / Electrical, Electronic and Computer Engineering / unrestricted

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