Development of a Servo System for Linear X-Y Table Based on DSP Controller

This paper presents a servo system for linear X-Y table, which is driven by two permanent magnetic linear synchronous motors (PMLSMs), based on a TMS320F2812 DSP controller. In this proposed system, the fully digital servo controller for each PMLSM and the trajectory motion controller for X-Y table are all implemented by a DSP chip. That is, the detection of quadrature encoder pulse (QEP), coordinate transformation, vector control, current loop controller, position loop controller, PWM output of each PMLSM drive system, and the trajectory motions for X-Y table, such as, motions of point-to-point, circle, line etc, are all performed in this DSP chip. To increase the control performances of the linear X-Y table, the fuzzy controller has been employed as their position controller at each linear servo motor drive. The TMS320F2812 DSP adopted herein has fast computational capability and excellent peripheral function for two sets of motor drives, so that it is very suitable to develop a compact servo control system of the X-Y table. At last, an experimental system which includes linear X-Y table, DSP-based servo control board, inverters, rectifiers have been set up and some experimental results have been demonstrated the effectiveness of the proposed control system.