Experimental verification of energy saving position control algorithm applied to the drives with PMSM

Main contribution of this paper is an experimental verification of a new position control algorithm exploiting principles of forced dynamics control capable to operate in energy saving mode. To minimize energy loss a specified velocity-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics for demanded reference position. Settings of the velocity-time profile parameters respect influence of load torque, which is used for deceleration or acceleration of the drive. The control system exploits principles of vector control, maintaining perpendicular stator current vector and the rotor flux vector. A zero dynamic lag pre-compensator is included to achieve precise following of a pre-planned rest-to-rest maneuver. The simulations predicted and presented experimental results confirmed possibility to achieve prescribed speed profile and to precisely follow of pre-planned rest to rest maneuvers for the drive with PMSM.