| Abstract |
The aim of the paper is ta test the possibility of dynamics improvement for servodrive with permanent magnet synchronous motor (PMSM) supplied from the transistor voltage source inverter (VSI) and with current, speed and position controllers. The system contains the AEG axis module and SAIA programmable position controller. During the motion, the load torque appears and disappears as a function of position. The dependence of dynamic performance of position control on speed feedforward, friction compensation gains, on position and speed regulator parameters are studied. As a criterion the IAE of position for the small distance forward and backward motion is computed. ln order to make the investigations easier, the model of AEG axis module was used instead of original PMSM drive. The results indicate that mostly the position regulator and the speed feedforward loop influence the servo-drive performance. The speed feedforward signal gives the same effect as an increase of the position controller gain. However, it allows to maintain the position loop stability. The influence of speed regulator parameters on position contrai is not considerable. Either the friction compensation loop and load torque are almost insignificant. This is caused by the high overload ability of the investigated PMSM drive. The optimal parameters of control system have been found. |
