Anti-windup robust controller considering motor dynamics for speed servo system

A robust servo system is important for improving the performance of motion control systems in several industry applications. In general, a speed servo system has a controller with an integrator, such as a PI controller. When its output variable is saturated by a current and/or voltage limiter, a wind-up phenomenon and an unstable response often occur. We have already proposed an anti-windup algorithm considering voltage saturation for speed servo system, that regulates the current response smoothly and stably. Moreover, we considered the saturation of current and speed for position servo system, and the anti-windup algorithm regulated the speed response stably. However, the speed response has the overshoot, which is caused by current saturation and the speed controller not keeping the response performance. This paper proposes an anti-windup algorithm considering the motor dynamics and current saturation for speed servo system of SPM synchronous motor. The experimental and numerical simulation results confirm that the speed servo system having the proposed algorithm regulates the motor speed smoothly and stably.