Abstract
A completely digital control concept for a synchronous servodrive is presented. The hardware consists of a PWM (pulse-width-modulated) inverter and a microcontroller with peripheral components for state value measurements and set value output. The derivation of a mathematical model of the PM synchronous servodrive is shown. A novel cascaded state feedback controller, which consists of a position state feedback controller with an inner current-control loop, is introduced. Two different types of current controllers are compared. >
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