Current Command Compensation for PM Servo Motor Considering Voltage Saturation Caused by Both Rapid Change in the Current Command and High-Speed Rotation

This paper proposes a new antiwindup method for PM (permanent magnet) servo motor control that compensates for the current commands based on both the amount of transient voltage saturation at high acceleration calculated from the proportional current control model and the amount of voltage saturation in the PI current controller at high speeds. Experimental results show that our proposed method can suppress the windup phenomenon and maintain stability under voltage saturation caused by high speed, high response, high acceleration, and severe voltage sag. Thus, the proposed method can improve the productivity of industrial machines, and is especially effective for PM servo motor control that has a large inductance, such as DDM (direct-drive motors) and IPM (interior permanent magnet) motors.