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

The paper proposes a new state estimator design and a new controller design for an x-y motion control system, which uses micro-permanent magnet synchronous motors. The micro motor is 6-mm diameter, 3-phase, 1.2W, 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 estimated rotor position, high resolution estimated rotor speed, and estimated disturbance. In addition, to improve the transient responses and tracking ability, an optimal position controller is proposed as well. The estimating technique and optimal control algorithm are implemented by using a DSP, TMS 320F28335. Experimental results show that the proposed motion control system has satisfactory performance, including fast transient responses, good load disturbance responses, and good tracking responses. This paper shows the application of the micro motors in the motion control system.