Dynamic performance of mini-scale servomechanisms with mini servomotors controlled by IC drivers in automotive applications

To significantly simplify the hardware solution, mini-scale electric machines are controlled using power amplifiers and controllers which are designed and fabricated as the monolithic integrated circuit (IC) drivers. This paper designs closed-loop mini-scale servomechanisms, compares different control algorithms, performs assessment analysis, and validates the results. The problems to be solved are very challenging because a number of long-standing issues in modeling, control, analysis, stability, robustness, and hardware-software co-design must be solved. The major emphasizes are placed in the analysis and design of robust mini-scale servomechanisms as well as the performance analysis and optimization. We synthesize and verify PID linear quadratic, relay, and sliding mode tracking controllers. It is illustrated that the sliding mode controllers with soft switching guarantee superior performance.