Energy saving position control algorithm for PMSM drives with quadratic friction

The design and verification of a new energy saving position control algorithm for electric drives with PMSM and quadratic friction is the main contribution of this paper. For minimization of energy loss a trapezoidal velocity-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics for demanded reference position. The overall control system exploits principles of vector control and forced dynamics control. A zero dynamic lag pre-compensator is included to achieve precise tracking of a pre-planned rest-to-rest maneuver. The simulation results for position control of the PMSM drive confirmed possibility to achieve energy savings with prescribed symmetrical speed profile.