| Abstract |
High-performance operation of servo-drivewith permanent magnet synchronous motor (PMSM) is requiredin many industrial applications, including robotics,machines, and, recently, aircraft components. Complexcontrol structures are necessary to meet the specific requirementsof these applications. In this paper, two controlstructures developed for position control of PMSM servodriveare presented. The state feedback control (SFC)structure augmented by state variables' limitation andload torque compensation is presented and comparedwith a hybrid control structure (HSC) where the innercurrent control loop exists. An experimental evaluationof both control schemes regarding dynamic properties,disturbance compensation, and robustness against themoment of inertia changes is included. |
