High Precision Motion Control of Servo Drives
Jezernik, K.; Rodic, M.
Industrial Electronics, IEEE Transactions on
Volume 56, Issue 10, Oct. 2009 Page(s):3810 - 3816
Digital Object Identifier   10.1109/TIE.2009.2020709
Summary:In this paper, we investigate the advantages and feasibility of motor control using very fast (in megahertz) switching in place of traditional amplifiers. We also propose integrated motion-control architecture based on discrete-event control approach to be implemented in digital logic at an equally high rate. A switching controller combines the current and motion feedback paths into a single loop. A model-based observer estimates the load torque. When compared to second-order controllers implemented with traditional amplifiers, the proposed design promises increased performance, better efficiency, and improved load estimation. Simple implementation makes concepts of switching control very attractive in motion-control systems like control of dc or ac servomotors. The control algorithm designed by the proposed approach can be easily implemented on field programmable gate array platforms.

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