The Use of a Torque Meter to Improve the Motion Quality at Very Slow Velocity of a Servo Drive with a PMSM Motor

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


The article shows that by using a torque meter in the servo structure, the quality of motion control can be significantly improved. The classic cascade structure controlling a servo drive with a PMSM motor when non-linear friction with a strong Stribeck friction occurs does not allow to achieve the accuracy of motion required in many applications. The proposed structure overcomes this problem, provides the required motion quality without the need to accurately identify friction characteristics. The second chapter of the article presents the mathematic model of the PMSM motor used during simulation experiments and its implementation in the Matlab/Simulink environment. Section 2.3 of the article presents the modification of the control structure using information from the torque meter and the structure of the correction block itself. The last part shows the waveforms obtained in the simulation for the classical and modified systems. The authors’ attention focuses on the problem of precise control with minimum speeds of mechatronic systems, in which there is strong Stribeck friction and the presented paper is the result of work aimed at preliminary testing of a certain concept of modifying the structure of the control system.


Servo drive Braking torque Precise slow motion control Torque meter 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.West Pomeranian University of Technology SzczecinSzczecinPoland

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