Controllers' robust design for PMSM drive fed with PWM voltage inverter with elastic joint and inertia load variation

A detailed design and comparisons of PID and LQ - state space controllers for permanent magnet synchronous machine (PMSM) loaded with elastic joint to a mass are presented. Step by step analyse for PID and LQ tuning is conduced for PMSM drive and varying load. A load inertia variation is taken into account to define the strategies used to calculate the optimum PID and LQ controllers that ensure the drive system stability and performance. Simulation results verify and compare the robustness of the controllers. Complexity of synthesis and performances obtained are discussed on an actual PMSM drive fed with a PWM voltage inverter controlled in current.