A discrete approach to inner current loop control design of PMAC motor control systems

The inner current loop of commercial permanent magnet AC (PMAC) motor control systems ensures that motor currents follow the desired input commands and thus plays a central role in achievement of high-accuracy trajectory following. We present a discrete-time approach to inner current loop control design. The inner loop control gains are determined based on a dynamic model-based calculation methodology. Experimental evaluation conducted on a commercial motion control system demonstrates the validity of the proposed approach