Control of sinusoidal PMAC motors in high-speed motions

A control approach for sinusoidal PMAC motors is developed for high-speed commercial motion control systems. The motor works in maximum torque-per-amp operation through initialization of the motor stator phase so that the rotating d-axis current is zero. The proposed torque control is in the form of torque feedforward plus PI-type torque feedback, where the desired torque signal is designed using adaptive control technology so that the torque control is robust to dynamic model uncertainties and torque disturbances. Experiments conducted on a commercial motion control system demonstrate the validity of the proposed approach in high-speed motions