Torque and current control of high-speed motion control systems with sinusoidal-PMAC motors

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)369-377
Journal / PublicationIEEE/ASME Transactions on Mechatronics
Issue number3
Publication statusPublished - Sept 2002


This paper describes a torque- and current-control application to a commercial motion-control system with sinusoidal permanent magnet ac (PMAC) motors. The control approach is based on maximization of torque-per-amp ratio. The proposed torque controller, in the form of torque feedforward plus proportional-integral (PI)-type torque feedback, utilizes the feedback of nominal torque signal only, a signal that can be readily calculated, online. No torque sensor is required. Through proper design of the desired nominal torque with adaptive control, the proposed torque controller can overcome disturbances due to torque estimation error and model uncertainties. A discrete-time approach is developed for inner-current loop control design. The inner-loop control gains, which are hard to obtain through manual tuning in practice, are determined by a dynamic model-based calculation methodology. Experimental evaluation on a commercial motion control system demonstrates the validity of the proposed approach in high-speed motions.

Research Area(s)

  • Adaptive control, Current loop, Motion control, Sinusoidal permanent magnet ac (PMAC) motor, Torque control