Even after compensation of nonlinear phenomena in the power stage, delay and sampling times remain in the current control loop that can not be eliminated. These time lags limit the speed and possible performance of the current controller and thus of all superposed control algorithms. An effective method to compensate the time lag in the current control loop of digital servo amplifiers is presented. Based on the Smith Predictor concept, a model predictive control algorithm is implemented. Usability is ensured by reducing the algorithm to be dependent on very few parameters. The presented method provides a fast and simple solution implemented on the current control loop level of the cascaded drive control system.
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