Generally, position controllers for servo motor drives utilize cascaded structures with speed and current controllers in inner loops. This structure provides easy gain setups and independent limits for control variables such as maximum torque or speed. However, it suffers from a large computation time and poor dynamic characteristics for the position control since the bandwidth must be low enough to guarantee those of the speed and current controllers. To cope with this, two non-cascaded position controllers where speed controller is removed are proposed. The first one is equivalent to the conventional controller in terms of the dynamic characteristics. However, the number of gains for the position control is reduced. The second one is aimed at improving the dynamic characteristics with more complicated structures. The proposed methods are effectively validated through MATLAB/Simulink simulations and 3.7 kW IPM motor drive experiments.
This is a preview of subscription content, access via your institution.
Buy single article
Instant access to the full article PDF.
Tax calculation will be finalised during checkout.
Jang-Hwan Kim, Jong-Woo Choi, Seung-Ki Sul: High Precision Position Control of Linear Permanent Magnet Synchronous Motor for Surface Mounted Device Placement System. Proceedings of the Power Conversion Conference-Osaka 2002, Osaka, Japan, (2002) vol.1, pp. 37–42
Shyu, K.-K., Lai, C.-K., Tsai, Y.-W., Yang, D.-I.: A newly robust controller design for the position control of permanent-magnet synchronous motor. IEEE Trans. Industr. Electron. 49(3), 558–565 (2002)
Jie, Z., Chuang, L., Renhua, J., Chengyu, W.: Position control for PMSM servo system using non-smooth feedback and disturbance estimation compensation. 2014 17th International Conference on Electrical Machines and Systems (ICEMS), Hangzhou (2014) pp. 2060–2065
Bae, J., Lee, D.: Position control of a rail guided mover using a low-cost BLDC motor. IEEE Trans. Ind. Appl. 54(3), 2392–2399 (2018)
Ellis, G.: Control system design guide-using your computer to understand and diagnose feedback controllers. Arcademic Press, Cambridge (2000)
Umeno, T., Kaneko, T., Hori, Y.: Robust servo system design with two degrees of freedom and its application to novel motion control of robot manipulators. IEEE Trans. Ind. Electron. 40(5), 473–485 (1993)
Fujimoto, Y., Kawamura, A.: Robust servo-system based on two-degree-of-freedom control with sliding mode. IEEE Trans. Ind. Electron. 42(3), 272–280 (1995)
Shi, J., Liu, T., Chang, Y.: Position control of an interior permanent-magnet synchronous motor without using a shaft position sensor. IEEE Trans. Ind. Electron. 54(4), 1989–2000 (2007)
Kim, J.H.: Design of PI-PD controllers to improve a response characteristic in position control system. J. Korean Soc. Manuf. Technol. Eng. 21(4), 651–657 (2012)
About this article
Cite this article
Cho, BG., Hong, C. & Lee, J. Non-cascaded position controllers for servo motor drives. J. Power Electron. (2021). https://doi.org/10.1007/s43236-020-00206-4
- Position control
- Non-cascaded position controller
- Servo motor drive systems