Energy saving position control algorithms for PMSM drives with Coulomb and viscous friction

Main contribution of this paper is the design and verification of a new energy saving position control algorithm for electric drives with significant Coulomb and viscous friction. For minimization of energy losses 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 the drive with PMSM confirmed possibility to achieve substantial energy savings.