Abstract
This paper proposes a high-resolution permanent magnet (PM) motor drive based on acceleration estimation and control. The PM motor is widely implemented in the printed circuit board (PCB) manufacturing process. To achieve the demanded 1 μm drilling resolution, a sine/cosine incremental encoder is usually installed for motion control. In this paper, several improvements are developed to increase the motion control steady-state accuracy balancing transient response. First, the interpolation of every two encoder counts is proposed to increase the position sensing resolution. In this case, the transient response is improved through the high-resolution position feedback. Second, a closed-loop observer with two independent bandwidths is proposed for acceleration estimation. By using the interpolated position for acceleration estimation, the vibration-reflected high-frequency torque harmonics can be compensated through the acceleration closed-loop control. It reduces the steady-state error under the same sensing hardware. According to experimental results, both transient response and steady-state error can be improved on a PM motor using the proposed position interpolation and acceleration control.
Highlights
The permanent magnet (PM) motor combined with laser drilling has been widely implemented in printed circuit board (PCB)
The PM motor combined with laser drilling has been widely implemented in PCBs
Due to the power limitation on voice coil motors, the laser drilling system with PM motors is preferred for PCB hole drilling [3]
Summary
The PM motor combined with laser drilling has been widely implemented in PCBs. For modern PCB manufacturers, laser drilling, instead of mechanical drilling, is preferred for PCB hole digging because of its high response and high accuracy [1]. Considering the laser drilling at high speed, motor vibration is observed due to the unbalanced mirror [18]. In this case, vibration load estimation and compensation can be applied to improve the mirror-reflected vibration [19,20]. By applying the estimated acceleration for feedback control, the disturbance torque at high frequency can be compensated [23]. This paper proposes a high-performance motion control for the PM motor to improve the vibration torque harmonic through the encoder position interpolation, speed estimation, and acceleration estimation/control. After obtaining the high-resolution position, separated observers with different bandwidths are proposed for the acceleration estimation. The second observer combines the estimated speed and interpolated position for high-bandwidth acceleration estimation. The proposed high-performance disturbance rejection is implemented in a PM motor for experimental validation
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