Energy saving position control of PMSM drives with constant, linear and quadratic frictions

Design and verification of a new energy saving position control algorithm for PMSM drives loaded with combined constant, linear and quadratic friction torques is the main contribution of this paper. For minimization of energy losses a symmetrical trapezoidal speed-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics to achieve the demanded reference position. Overall control system exploits principles of vector control and forced dynamics control. A zero dynamic lag pre-compensator is included for precise tracking of prescribed state variables. The simulation results confirmed possibility to achieve energy savings with prescribed constant acceleration, trapezoidal speed and position profiles for pre-planned rest to rest maneuver.