Servo-Position Control with Dynamic Lag Precompensator for Pmsm Drives

Abstract

The paper presents design of near-time-optimal position control of electrical drive with permanent magnet synchronous motor. The principles of time-optimal-control and forced dynamic control are combined to form a novel method of achieving a nearly time optimal position control performance in drives equipped with controllers enabling close following of time varying reference position inputs from 'near time optimal' model. For compensation of the dynamic lag between model generated position and the real drive position response a precompensator is implemented. The simulations and experimental results show possibility to achieve 'near time optimal' behavior of the drive.