A DSP based real time motion control system

Abstract

This thesis addresses the use of a minimal order observer model for position estimation used in the control of permanent magnet synchronous motors (PMSMs). The objective is to implement a low cost and robust digital signal processor-based real time motion control system using a PMSM drive without mechanical sensors. Using a minimal state observer, the position estimation is based on the measured stator currents and voltages of the motor, which is much cheaper than using mechanical sensors. The replacement of the expensive and fragile mechanical sensors with a software state observer also improves the motor robustness and maintainability.