Mini- and microscale closed-loop servodrives with brushless minimotors and ICs monolithic amplifiers/controllers

In this paper, we design, test, and compare different control algorithms for miniscale high-performance electromechanical systems with mini and micro permanent-magnet brushless synchronous motors controlled by monolithic amplifiers/controllers. The fabricated micromotors are 2 mm in diameter, and rated angular velocity is 10,000 rad/sec. These affordable high-performance micromotors are fabricated using the surface micromachining technology. The system level integration problem is examined studying a complete servodrive hardware, e.g., micromotors -controllers. In particular, control is performed by ICs amplifiers/controllers (ICs size is 2×0.5×0.5 mm). ICs amplifiers with power stage (50 V and 1 A) perform control and signal processing. In general, communication and data acquisition can be also integrated in a single ICs chip. The major emphasis is placed in the analysis and design of closed-loop electromechanical systems by synthesizing and testing different control laws. A variety of tracking controllers (proportional-integral, proportional-integral with state feedback, relay, and neural network based) are designed and analyzed. It is illustrated that the controllers designed guarantee stability, robust tracking with zero steady-state error, fast dynamic response, and disturbance attenuation.