High-Precision Position Control of Linear Permanent Magnet BLDC Servo Motor for Pick and Place Application

Abstract

In this paper, performance comparison of the position control of a linear permanent magnet brushless DC servo motor (LBLDCM) using linear proportional-integral derivative (PID) and non-linear sliding mode control (SMC) approach for pick and place application is presented. As high precision positioning is involved in the area of pick-and-place micro-assembly, a high performance controller is needed. Comparison of these two control schemes under different loads, acceleration, and pick-and-place time are presented. The control system is implemented on a general-purpose DSP DS1104 controller board. The servo motor used in this experiment is LMS20 C3, with maximum stroke length of 300 mm and with an encoder resolution of 0.1 m. Experimental results presented show improvements in settling time and positional accuracy of the proposed SMC scheme.