IJAT Vol.11 No.1 pp. 104-111
doi: 10.20965/ijat.2017.p0104


Effects and Application of Current Feedback in Servo System with Current Limiter

Masatoshi Hikizu, Hiroaki Seki, and Yoshitsugu Kamiya

Kanazawa University
Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan

Corresponding author

April 8, 2016
November 24, 2016
January 5, 2017
current feedback, saturation element, servo driver

A manufactured servo system has both current feedback and saturation elements in the servo driver (amplifier). The current feedback is thought to be effective only in reducing the electric time constant of the motor. However, the effects of current feedback are not only the reduction of electric time constant. In this study, the effect of current feedback is clarified by comparing it to a velocity control system without current feedback. In particular, the contribution of the current feedback to saturation elements in servo drivers is clarified. As a result, the influence of the saturation of the operation amount existing in servo drivers cannot be clarified easily, showing that the current feedback is indispensable in motor control by suppressing the flow of over-current to the motor. This demonstrates the possibility of force control that is compatible with trajectory control of a load by exploiting the characteristic of saturation of operation amount.

Cite this article as:
M. Hikizu, H. Seki, and Y. Kamiya, “Effects and Application of Current Feedback in Servo System with Current Limiter,” Int. J. Automation Technol., Vol.11, No.1, pp. 104-111, 2017.
Data files:
  1. [1] K. J. Asutrom and T. Hagglund, “Automatic Tuning PID Controllers,” Instrumentt Society of America, 1988.
  2. [2] R. Haunus, M. Kinnaert, and J. L. Henrotte, “Conditioning Technique, a General Anti-windup and Bumpless Transfer Method,” Automatica Vol.23, No.6, pp. 729-739, 1987.
  3. [3] C. Bohn and D. P. Atherton, “An Analysis Package Comparing PID Anti-Windup Strategies,” IEEE Control System Magazine, Vol.15, No.2, pp. 34-40,1995.
  4. [4] Y. Peng, D. Varncic, and R. Hauns, “Anti-Windup , Bumpless, and Conditioned Trasfer Techniques for PID Controllers,” IEEE Control System Magazine, Vol.16, No.4, pp. 48-57, 1996.
  5. [5] J. K. Park and C. H. Choi, “Dynamic Compensation Method for Multivariable Control System with Saturating Actuators,” IEEE Trans. on Automatic Control, Vol.40, No.9, pp. 1635-1640, 1995.
  6. [6] M. Saeki and N. Wada, “Design of Anti-Windup Controller Based on Matrix Inequalities,” Proc. of the 35th Conf. of Dexision and Control, pp. 261-262, 1996.
  7. [7] C. Edwards and I. Postlethwaite, “Anti-windup and Bumpless-transfer Schemes,” Automatica, Vol.34, No.2, pp. 199-210, 1998.
  8. [8] P. J. Campo, M. Morari and C. N. Nett, “Multivariable Anti-Windup and Bumpless Transer: A General Theory,” Int. Procs. American Control Conf., pp. 1706-1711, 1989.
  9. [9] F. Tyan and D. Bernstein, “Dynamics output feedback compensation for linear systems with independent amplitude and rate saturations,” Int. J. of Control, Vol.67, pp. 89-116, 1997.
  10. [10] R. Freeman and L. Praly, “Integrator backstepping for bounded controls and control rates,” IEEE Trans. on Automatic Control, Vol.43, No.2, pp. 258-262, 1998.
  11. [11] Z. Lin, “Semi-global stabilization of disrete-time linear systems with position and rate-limited actuators,” Systems & Control Letters, Vol.34, pp. 313-322, 1998.
  12. [12] R. Sato and M. Tsutsumi, “High Performance Motion Control of Rotary Table for 5-Axis Machinig Centers,” Int. J. of Automation Technology, Vol.1, No.2, 2007.
  13. [13] M. V. Kothare, P. J. Campo, M. Morari, and C. N. Nett, “A Unified Framework for the Study of Anti-windup Designs, Automatica,” Col.30, No.12, pp. 1869-1883, 1994.
  14. [14] A. H. Glattfelder and W. Scaufelberger, “Stability Analysis of Single Loop Control System with Saturation and Antireset-Windup Circuits,” Automatic Control, Vol.28, No.12, pp. 1074-1081, 1983.
  15. [15] F. Wu, and B. Lu, “Anti-windup control design for exponentially unstable LTI systems with actuator saturation,” Systems & Control Letters, Vol.52, pp. 305-322, 2004.
  16. [16] S. Galeani, A. R. Teel, and L. Zaxxarian, “Constructive nonlinear anti-windup design for exponentially unstable linear plants,” Systems & Control Letters, Vol.56, pp. 357-365, 2007.
  17. [17] S. Galeani, S. Onori, A. R. Teel, and L. Zaccarian, “A magnitude and rate saturation model and its use in the solution of a static anti-windup problem,” Systems & Control Letters, Vol.57, pp. 1-9, 2008.
  18. [18] X. Wu and Z. Lin, “Dynamic Anti-windup Design in Anticipation of Actuator Saturation,” 2011 American Control Conf., pp. 4446-4451, 2011.
  19. [19] H. B. Shin and J. G. Park, “Anti-Windup PID Controller With Integral State Predictor for Variable-Speed Motor Drives,” IEEE Trans. on Industrial Electornics, Vol.59. No.3, pp. 1509-1516, 2012.
  20. [20] L. Zaccarian and A. R. Teel, “A common framework for anti-windup, bumpless tranfer and reliabel designs, Automatica,” Vol.38, pp. 1734-1744, 2002.
  21. [21] S. Tarbouriech and M. Turner, “Anti-windup design: an overview of some recent advances and open problems,” IET Control Theory & Applications, Vol.3, No.1, pp. 1-19, 2009.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Dec. 11, 2018