Performance analysis of PMSM servo-drive with state feedback and hybrid position controllers

High-performance operation of servo-drive with permanent magnet synchronous motor (PMSM) is required in many industrial applications, including robotics, machines, and, recently, aircraft components. Complex control structures are necessary to meet the specific requirements of these applications. In this paper, two control structures developed for position control of PMSM servodrive are presented. The state feedback control (SFC) structure augmented by state variables' limitation and load torque compensation is presented and compared with a hybrid control structure (HSC) where the inner current control loop exists. An experimental evaluation of both control schemes regarding dynamic properties, disturbance compensation, and robustness against the moment of inertia changes is included.