It is important to use a robust servo system to improve the performance of motion control systems for several industry applications. Generally, a speed servo system has a controller with an integrator, such as a PI controller. When its output variable is saturated by current and voltage limits, a wind-up phenomenon and an unstable response often occur. We have already proposed an anti-windup algorithm considering voltage saturation for servo systems, and it regulates the current response smoothly and stably. However, the motor speed response exhibits a large overshoot caused by current saturation.
This paper proposes an anti-windup algorithm considering motor dynamics and current saturation for speed servo system of surface permanent magnet synchronous motor. The experimental results show that the speed servo system employing the proposed algorithm regulates the motor speed smoothly and stably.