Analysis of the Dynamic Emulation Problem for Validation of Position Control Algorithms in Machine Drives

Load emulation is an important stage in the development of high performance of control algorithms, which allow experimental tests in controlled environments. This work investigates the validation problem in position control algorithms of electric motors with two coupled motors. Two approaches commonly used in the literature are explored seeking high fidelity in the mechanical dynamic behavior. The first one is the open-loop torque control, which uses a torque reference directly provided by the emulation model, and the second one is a closed loop position control. Simulated and experimental results demonstrate that the exact emulation does not exist for both approaches. Therefore, the research of new control topologies is important/interesting for proper load emulation.