Abstract：The conventional position servo control structure, composed of position closed-loop, speed closed-loop and current closed-loop, has obtained the widespread approval. Nevertheless, in some applications such as point-to-point motion control, the dynamic performance of position response is required strictly, and the control performance of speed signal is not important. Speed closed-loop regulator is not suitable here because it will decrease the dynamic performance of position response for being a series link in the whole control structure. Based on this reason, two-loops control structure of position servo system, only with position closed-loop and current closed-loop, is proposed in this paper. In the same reference signal and the same control object, simulation and experimental results show that the time of dynamic response for the proposed system is shorter than that of the conventional system in both the step response and the trapezoid response. Moreover, the hybrid feed-forward control also can be applied in the proposed system, just as in the conventional system, to decrease the stable position tracking error in the trapezoid response. A conclusion can be drawn that the two-loops control structure has advantage in the point-to-point motion control application. However, it is not suitable to be applied in the trajectory motion control without speed regulator.
滕福林, 胡育文, 刘洋, 储剑波. 位置/电流两环结构位置伺服系统的跟随性能[J]. 电工技术学报, 2009, 24(10): 40-46.
Teng Fulin, Hu Yuwen, Liu Yang, Chu Jianbo. Tracking Performance of Position Servo System Only With Position and Current Loops. Transactions of China Electrotechnical Society, 2009, 24(10): 40-46.
2009, Vol. 24 
