High-performance AC servo-drive system

A method of AC servo-drive motor control is presented. To focus attention on the load control problem, a polar consideration instead of the usual Cartesian one is suggested. Thus, the unavoidable commutation and torque generation processes are introduced. In this sense, the commutation processes are introduced. In order to obtain concrete results, a simple laboratory robotic mechanism is selected, and, on the basis of applied program control (torque and speed), the additional commutation compensation signal is determined. The results obtained justify the proposed strategy.<>