Implementation of a motion control system using micro-permanent magnet synchronous motors

This study proposes an optimal controller combined with a feed-forward controller for an x-y motion control system which is driven by micro-permanent magnet synchronous motors. The micro motor is 6-mm diameter, three-phase, 1.2 W, and its rotor is attached by a 64 pulses/revolution micro-encoder. To improve the resolution of the micro-encoder, a state estimator is proposed to obtain high-resolution rotor position, rotor speed, and disturbance load. In addition, to improve the transient responses and disturbance responses, an optimal position controller combined with a feed-forward controller is proposed as well. The estimating technique and control algorithm are implemented by using a digital signal processor, TMS 320F28335. Experimental results show that the proposed motion control system has satisfactory performance, including fast transient responses and good load disturbance responses. This study demonstrates the practical application of micro-motors in the motion control system.