POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011 35
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
FEEDFORWARD CONTROL OF ELECTRICAL DRIVES -
RULES AND LIMITS
Michal MÁLEK.1, Pa ol MAKYŠ.1, Ma ek ŠTULRAJTER.1
1 Depa men o Powe Elec ical Sys ems, Uni e si y o Zilina, Uni e zi na 1, 010 26 Zilina, Slo akia
[email p o ec ed], [email p o ec ed]niza.sk, s ul aj [email p o ec ed]
Abs ac : Nowadays, he e a e se e al applica ion in he
ield o posi ion con olled elec ic d i es, such as high speed
cu ing, whe e adi ional cascade con ol s uc u es p o ide
insu icien accu acy. The e o e, i is necessa y ei he o
comple ely change he con ol s uc u e (e.g. sliding mode
con ol) o o modi y and ex end he basic cascade s uc u e.
One o hose modi ica ions can be eed o wa d di ec
b anches. Feed o wa d inc ease o de o as a ism wi hou
s abili y in luencing bu on he o he hand i b ings o he
p oblems ega ding o he eed o wa d echnique
implemen a ion, sys em pa ame e s changing o neglec ing
pa icula sys em beha io . This pape desc ibes basic
con ol s uc u es, hei ea u es and se e al men ioned
p oblems ela ed o eed o wa d con ol o elec ic d i es.
Keywo ds
Feed o wa d, se od i e, accu acy.
1. In oduc ion
This a icle is a pa o o e all opic called Feed o wa d
Con ol o Elec ical D i es. I is hema ically ela ed o he
pape wi h i le An In oduc ion o Feed o wa d Con ol o
Elec ical D i es [1]. The main pu pose o his pape is o
show how o use he mos common s uc u es in he ield o
comme cial elec ical d i es, hei ea u es and possibili ies
o uning. The e is a sec ion desc ibing he limi s which can
appea du ing he implemen a ion o he elec ical d i es in
he eal wo d. A he end, he e a e shown some o he s o ms
o eed o wa d echniques.
2. S uc u es and hei eau u es
A simple s uc u e o he posi ion con ol adop ing a
speed eed o wa d has been shown in [1]. The ollowing
chap e s will ou line how o sol e po en ial p oblems
esul ing om eed o wa d, and how o une p ope ly he
loop in o de o ge he maximal bene i om eed o wa d.
The speed eed o wa d o e s as e speed esponse, bu
on he o he hand causes a speed o e sho . One o he
possible solu ions is o add an accele a ion loop and o y o
elimina e an e o in s eady s a e, which is gi en by s ep
change o he accele a ion. The scheme in Fig.3 in [1] is hen
ex ended and changed acco ding o Fig.1.
The ans e unc ion o he sys em is modi ied as
ollows:
(
)
ω
ωθ
θω
ω
ω
ω
ω
ωθ
ω
ωω
θωωωε
θ
T
KK
KK
T
K
sKsJsJTs
T
KK
T
KK
KKsKKsKs
sG
PP
PP
P
P
PPFFP
PPPFFFF
+
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛++++
+
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛+++
=
Σ234
23
, (1)
and esul ing e o is gi en by (2).
As i can be seen om Eq.1, he gain o speed
eed o wa d KFF
ω
can a ec he gain o he accele a ion
eed o wa d KFFε. Assuming uni a y gain o KFF
ω
, han he
gain o he accele a ion loop KFFε will be equal o J (momen
o ine ia).
The ques ion is how i will a ec he o e shoo
obse ed in he s uc u e wi h he speed eed o wa d. The
answe will p o ide a simula ion ealized acco ding o he
block diag am in Fig.1. The e is clea ly isible impac o all
in e en ions in Fig.2. I is seen ha he equi ed linea
inc ease o speed ollows a s uc u e wi hou any
eed o wa d wi h cons an lag. An in oduc ion o he speed
eed o wa d leads o cancela ion o he lag, bu on he
con a y an o e shoo occu s. This is caused due o impe ec
acking o he accele a ion, which changes o ze o when he
e e ence speed eaches s eady s a e. A e he in oduc ion
o accele a ion eed o wa d he a o emen ioned undesi able
o e shoo is educed o he minimum. In his case he speed
will be wi hou any pe manen lag as well as wi hou any
o e shoo s.
No e. Scheme in Fig.1 con ains eed o wa d b anches
gi en by gain and di e en ia o o he ele an o de . The
block diag am, depic ed in Fig.1, is mo e sui able o
illus a ion and unde s anding, bu he p ac ical
implemen a ion o de i a ion membe s would cause noise in
he eed o wa d signal. The e o e, in p ac ice, he desi ed
shape o he de i a i e posi ion is p ima ily gene a ed as
same o de as o de desi ed eed o wa d and he o he
e e ences a e ob ained by i s in eg a ion. In o he wo ds, i
we wan o use o ins ance accele a ion eed o wa d, i is
possible o gene a e desi ed accele a ion based on limi s o
accele a ion, speed and posi ion.
36 POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
Fig. 1. Block scheme o he posi ion con ol wi h eed o wa d loop o speed and accele a ion
{}{} ()( )()
ω
ωθ
θω
ω
ω
ωΣ
ωωω
ω
ωωωεΣ
θθ
θ
T
KK
KK
T
K
sKsJsJTs
KKK
T
s
KKKsKJsJTs
s
1
slimeLsLlime
PP
PP
P
P
234
FFPPFFPP
2
FF
34
2
0s
ž
0s +
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛++++
−+−+−+
== →→
∞ (2)
Then he speed and posi ion e e ences a e simply
calcula ed by he in eg a ion o an accele a ion e e ence.
Gene ally speaking, he highe eed o wa d o de and
he dimension o e e ence ec o o kinema ic a iables
associa ed wi h he eed o wa d, he lowe ep esen a ion o
highe equencies in he ou pu and hence he e o signal,
which has a posi i e impac on he o e all sys em esponse.
00.1 0.2 0.3 0.4 0.5 0.6
0
0.2
0.4
0.6
0.8
1
[s]
ω
/
ω
d
wi hou eed o wa d
wi h eloci y eed o wa d
wi h eloci y and accele a ion eed o wa d
e e ence
Fig. 2. Speed wa e o ms - posi ion con ol wi h PI speed con olle
o di e en modes o ope a ion
Abo e men ioned ac s desc ibe only one s uc u e o
he posi ion con ol wi h eed o wa d loops. The e a e
se e al ypes o po en ial con ol s uc u es. An example how
o se up eed o wa d loops can be demons a ed on he
simila s uc u e, which can be eached by in oducing a new
PDF con olle (PDF – Pseudo De i a i e Feedback) ins ead
o s anda d PI con olle [3]. Block scheme is in Fig.3.
Di e ence be ween hose wo schemes is ha he PDF
con olle , unlike he PI con olle , does no en ail a ze o in o
he plan . Al hough, i does no help o dec ease he o de o
he plan as well as inc ease he dynamic o he sys em, i has
an “a enua ion” e ec o he abo e men ioned ze o and hus
p e en s he gene a ion o any o e shoo . Ano he change is
in opology. The accele a ion eed o wa d loop is in case o
PI con olle connec ed behind he speed con olle . In case
o PDF con olle , he accele a ion eed o wa d loop is
summed wi h speed behind he posi ion con olle . The
eason o his app oach is because o an absence o ze o in
he speed con olle . Impac on he nume a o will be he
same be o e and a e he speed con olle , so ha can be
used bo h schemes. By using o a e sion wi h PI con olle
i is impossible o a ec he accele a ion be o e he speed
con olle .
A ans e unc ion ela ed o he scheme in Fig.3. is as
ollows:
()
ωθωω
θωωωωε
θ
IPIP
PIIFFIFF
KKsKKsJsJTs
KKKsKKKs
sG ++++
++
=
Σ234
2
. (3)
As i has been men ioned be o e, ans e unc ion o
he con ol wi hou any eed o wa d loops does no con ain
any ze o poin s. By adding eed o wa d loops in o he
s uc u es is he numbe o ze os inc eased up o wo.
POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011 37
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
Fig. 3. Block scheme o eed o wa d posi ion con ol wi h speed PDF con olle .
Feed o wa d gains will a ec only he coe icien s
nea by he i s and second powe , unlike o he i s
example, whe e he o de o he nume a o has been h ee
and all o nonze o powe coe icien s a e a ec ed by
eed o wa d gains.
By using o a Final alue heo em i is possible o
explain he e o in s eady s a e as ollows:
{}{}
()()
θωωω
ωωωεωω
θθ
θ
PIIP
FFIIFFIP
s
ž
s
KKsKKsJsJTs
KKKsKKKsJsJTs
s
s
eLsLe
++++
−+−++
==
Σ
Σ
→
→
∞
234
234
2
0
0
1
lim
lim
. (4)
As i can be seen om Eq.4, by se ing KFFω=1 and KFFε
= KPω/ KIω i is possible o cancel some o he powe s in he
nume a o . How such se ings ake e ec on he esul ing
wa e o ms can be seen om Fig.4, which ep esen s he
esul s o he simula ion acco ding o he block diag am in
Fig.3. Se ing o con olle s has been pe o med by poles
placemen me hod [4] ( o simplici y, i has been elec ed ou
imes he eal pole).
00.1 0.2 0.3 0.4 0.5 0.6
0
2
4
6
8
10
12
[s]
ω
/
ω
d
wi hou eed o wa d
wi h eloci y eed o wa d
wi h eloci y and accele a ion eed o wa d
e e ence
Fig. 4. Speed wa e o ms – posi ion con ol wi h PDF speed con olle
He e can be seen an in luence o ze o missing in he
speed con olle unde he non- eed o wa d con ol (in
compa ison wi h Fig.2.). The speed o e shoo unde speed
eed o wa d con ol is mo e signi ican and i s compensa ion
by accele a ion eed o wa d has a lowe e ec .
The wa e o ms o he accele a ion in Fig.5 only
con i m p e ious esul s assessmen .
In his case i is possible o add ano he loop – a je k
eed o wa d. Acco ding o Eq.3 he gain o his loop can be
explained as (J/KIω). I is clea ha his way leads o e y
simila esul s as i is in case o speed PI con olle , because
his app oach is also based on he compensa ion o h ee
o de s in denomina o .
00.1 0.2 0.3 0.4 0.5 0.6 0.7
-1
-0.5
0
0.5
1
1.5
2
[s]
ε
/
ε
d
wi hou eed o wa d
wi h eloci y eed o wa d
wi h eloci y and accele a ion eed o wa d
e e ence
Fig. 5. Accele a ion wa e o ms – posi ion con ol wi h PDF speed
con olle .
A he end o his sec ion, simula ion esul s o he
o e all sys em a e shown. The simula ion ep esen s a
posi ion con ol wi h sa u a ion o speed and accele a ion.
Du ing he simula ion es a s anda d speed PI con olle has
been used and all h ee s uc u al modi ica ions ha e been
es ed.
38 POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
00.2 0.4 0.6 0.8 1
-1
-0.5
0
0.5
1
00.2 0.4 0.6 0.8 1
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
ε
/
ε
d,
ω
/
ω
d,
θ
/
θ
d
00.2 0.4 0.6 0.8 1
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
[s]
ε
ε
d
ω
ω
d
θ
θ
d
Fig. 6. Wa e o ms o kinema ic signals – posi ion con ol wi h speed PI con olle unde di e en modes
• wi hou eed o wa d
• speed eed o wa d
• accele a ion eed o wa d
As i can be seen, a signi ican lag behind he e e ences
is p e y success ully elimina ed by eed o wa d loops.
Ve y use ul ool du ing he con ol uning p ocess a e
loga i hmic ampli ude and phase cha ac e is ics (LAPCH),
Fig.7. Those in Fig.7 speci ically desc ibe he sys em wi h
he speed PDF con olle and again con i m ha eed o wa d
educes he o de o he plan (see phase cha ac e is ics) and
also allows he sys em o wo k wi h a wide bandwid h. In
his pa icula case p o ides he speed eed o wa d h ee
imes wide bandwid h and he accele a ion eed o wa d
e en six imes wide bandwid h.
No e. I we had con inued wi h ano he loop (je k), he
bandwid h would be almos 13 imes g ea e !
POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011 39
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
-200
-150
-100
-50
0
50
Ampli ude [dB]
10
0
10
1
10
2
10
3
10
4
-360
-270
-180
-90
0
[Hz]
Phase [°]
wi hou eed o wa d
wi h eloci y eed o wa d
wi h eloci y and accele a ion eed o wa d
Fig. 7. LAPCH o posi ion con ol in de e en modes
Wide bandwid h allows quan i ies o ack he
e e ences wi h lowe lag, and also allows addi ional
co ec ion o gains in o de o a ec he esponse ega ding
o he dis u bances signals (e.g. load o que). This is
essen ially he main ask o eed o wa d – o ake he
esponsibili y o a acking o con olled a iables. Al hough
i has been men ioned a he beginning, ha eed o wa d does
no a ec he s abili y, i is necessa y o no e ha a e y
small in luence is s ill he e. The con olle s a e no ully
employed because he eed o wa d p ima y a ec s he
esponse acco ding o con ol signals. This could allow
se ing he pa ame e s o he con olle such way, ha i
would no mally cause low alues o phase and ampli ude
secu i y and he s a e close o he ins abili y. Such idea is up
o discussion.
The chap e o e s he solu ions o he eed o wa d o
wo di e en s uc u es. I is also possible o apply o o he
s uc u es, and will be achie ed e y simila esul s. Fo
ins ance, i can be a s uc u e combining PDF con olle o
posi ion and P con olle o speed, o PI posi ion con olle
wi h speed P con olle [5], e en ually PID con olle
posi ions wi hou speed loop [6].
3. Limi a ion in eal applica ion
In p e ious chap e s ha e been shown p inciples o
eed o wa d based on he sys em, which is close o he ideal
one. I is ce ainly impo an o know he p oblema ic in e m
o heo y, bu i may no be enough in p ac ical applica ions.
The p ac ical implemen a ion o he eed o wa d solu ions
b ings some o he s p oblems o be sol ed. Some o hem will
be desc ibed in he ollowing lines.
The sys em desc ibed in he p eceding pa ag aphs has
been simpli ied and idealized. The inne loop con aining he
cu en con olle ( o que), in e e and mo o i sel ha e
been eplaced by a p opo ional plan wi h a ansmission
delay o he i s o de . The delay caused by a ma u e has
been o se by he con olle and he delays coun ed in he
summa ion cons an s. Since i is ela i ely small sum o
delays, sys em app oxima ion wi h i s o de delay does no
en ail subs an ial e o in he sys em [2]. To alized ime
cons an includes delays due o in e e , ime calcula ion,
signal sampling, ime o AD con e sion and il e ing noisy
cu en signal ( ansmission delays a e app oxima ed by i s
o de delay).
Besides, he eal sys em con ains a signi ican
p opo ion o noise in he sensed cu en s and angula
eloci y signals. The speed will be s ongly a ec ed by noise
i i is ob ained by de i a ion o he posi ion signal. This is a
consequence o sampling and inal esolu ion o an encode .
The mos common solu ion is a il e , which is uned in o de
o keep he s abili y o he sys em, o emo e unwan ed high
equencies and p ese e demanded bandwid h. The ipple o
wa e o ms seen on he nex pic u es is gi en by men ioned
noise and subsequen il e ing (mainly angula accele a ion).
One o he mos impo an pa ame e is he momen o
ine ia J and he mos c i ical ask is i s iden i ica ion. No
only pa ame e s o he con olle s ( uned by analy ic
me hods) a e dependen on he knowledge o J, bu also he
pa ame e s o eed o wa d. I he in o ma ion abou he
ine ia is no co ec , he eed o wa d will no wo k p ope ly.
This phenomenon can be seen in Fig.8.
00.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
[s]
ε
/
ε
d
ε
- J eal
ε
- J modi ied
ε
d
Fig. 8. Speed wa e o ms – posi ion con ol wi h eed o wa d o igh
and w ong momen o ine ia J iden i ica ion
I is clea , ha 30 pe cen e o in he iden i ica ion o J
causes an o e shoo , which is no accep able ega ding o he
high s a e o as a ism.
Ano he pa ame e which can seconda y a ec he
quali y o he esul ing wa e o m, may be a summa y ime
cons an o he inne loop. Fo example, i we une he
pa ame e s o a se od i e wi h speed PDF con olle by
using o pole placemen me hod, i is necessa y o know he
delay o inne loop. I s inco ec iden i ica ion causes w ong
calcula ion o pa ame e s o con olle s and consequen ly he
gains o eed o wa d loop, as i is shown in Fig.9 (60 pe cen
e o in he o e all ime cons an iden i ica ion). This lack is
possible o addi ionally une. A las , an inco ec
iden i ica ion o he inne loop o de may also nega i ely
a ec he quali y o he con ol like unexpec ed o e shoo s
and impe ec demanded ajec o y acking.

40 POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
00.2 0.4 0.6 0.8 11.2
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
[s]
ω
/
ω
d
ω
- TΣ
ω
- TΣ - modi ied
ω
d
Fig. 9. Speed wa e o ms – posi ion con ol wi h eed o wa d o igh
and w ong ime cons an TΣ iden i ica ion
One o he las men ioned p oblem ha needs o be in
sol ed in p ac ice is ela ed o he delay eedback signal
posi ion. Ideally, he signal on he cu en posi ion is
immedia ely a ailable o u he p ocessing. In he eal
condi ion, howe e , s ands in he way o se e al obs acles
ha p e en ed i in he way and slowing him. These ba ie s
a e ela ed o sampling equency, con e sion ime,
e en ually signal il a ion which mean o alized delay o
speed loop. I would be use ul i con ol algo i hm know
abou hese obs acles. I his in o ma ion is no used, he
desi ed posi ion is compa ed wi h he eal one, bu delayed
wha gi ing ise o e o and equi es handling o he posi ion
con olle . In he p e ious sec ions, we ha e said ha he
main aim is unload he con olle om his ole. The solu ion
is e y simple and is based on inc easing delay o he
e e ence signal. I can be seen ha exac ime delay
es ima ion will be c i ical. I is possible o used me hod o
g adual op imiza ion o all delay a e simply added oge he
(as men ioned abo e, all delays a e eplaced by i s o de
lag). These ac s a e bes documen ed by aces o e e ence
signals wi hou and wi h delay (Fig. 10).
00.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
[s]
ω
/
ω
d
,
θ
/
θ
d
ω
ω
- e . delayed
ω
d
θ
θ
- e . delayed
θ
d
Fig. 10. Speed and posi ion wa e o ms o con ol wi h speed
eed o wa d loop wi hou and wi h delay in e e ences
Since he pic u e is no possible o speci y de ails o he
posi ion, Figu e 11 p o ides a compa ison o he di e ence
be ween equi ed and ac ual alue o eed o wa d wi hou
and wi h delay in e e ences. I is seen ha he in e en ion
o he egula o is apidly educed. Fu he educ ion is
possible i be e iden i ica ion o s uc u es and pa ame e s
o he sys em will be done. These solu ions how o
compensa e o e shoo in posi ion con ol sys em is being
used in mo e applica ions [9].
Men ioned ac s ha e conce ned he con ol wi h
eed o wa d speed signal. I we use he eed o wa d o
accele a ion we can also elimina e accele a ion o e shoo .
Figu e 13 indica es he loca ion o delay blocks in he con ol
s uc u e.
Finally, i should be no ed one mo e ac o which may
complica e he p ac ical ealiza ion. Re e ence kinema ic
a iables we e gene a ed in he p e ious sec ions, in
acco dance wi h he sampling loop, in which he eed o wa d
links en e . In eal sys ems, howe e , e e ences a e
gene a ed by mas e e e ence sys em ( ele an in e pola o )
and h ough he app op ia e communica ion in e ace
(E he ne , SERCOS, E he CAT, e c..) a e ansmi ed o he
se o sys ems.
00.2 0.4 0.6 0.8 1
-0.05
-0.04
-0.03
-0.02
-0.01
0
0.01
[s]
θd
-
θ
wi hou delayed e e ence
wi h delayed e e ence
Fig. 11. Wa e o ms o posi ion e o o con ol wi h eed o wa d
speed loop wi hou and wi h delay in e e ences
The p oblem is he speed o gene a ion and
ansmission o in o ma ion. I sampling equency o
eed o wa d is wice han sampling o posi ional loop speed
has he ollowing shape (Fig. 12):
00.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
[s]
ω
/
ωd
ω
ω
- modi ied
ωd
Fig. 12. Speed wa e o m o posi ion con ol wi h eed o wa d, ω-
modi ied is speed o wice sampling equency o eed o wa d han
sampling o posi ion loop.
I is clea ha he esul s is unsa is ac o y and needs o
con e some ex a in e en ions. Mos elegan is he use o
as in e ace (e.g. E he ne Powe link) and sampling o
eed o wa d e e ences adap o sampling o app op ia e
loop. I i is no possible signal has o modi ied o
assimila ed o he sampling o con ol loop. In his case, we
canno elimina e he in oduc ion o ce ain e o s and delays.
0.3 0.35 0.4 0.45
0.9
0.95
1
POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011 41
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
The las pa o pape mapped p oblems ha may
accompany he applica ion o posi ion con ol algo i hms
wi h eed o wa d in eal e ms. Did no seek o appoin all
hings which can be expe ienced only highligh ed he ac
ha a p ac ical solu ion o sol e he p oblem equi es a mo e
complex iew o he p oblem. Speci ic applica ions b ing
speci ic p oblems ha go beyond he scope o his pape .
Fig. 13. Posi ion con ol wi h speed and accele a ion eed o wa d loops wi h delay in e e ence.
4. O he o m o eed o wa d
The abo e o ms a e no sole way how o implemen
eed o wa d loops. In applica ions, we can encoun e wi h
eed o wa d based on calcula ing he o que co ec ion signal
which is ed o sum block o o que (cu en ) loop. I s inpu
signals a e e- e e ence kinema ic a iables wi h he ac ha
one b anch compensa es o he dynamic momen
(
)
ž
J
ˆ
ε
and
second momen o ic ion o ces, which a e de ined in he
simples case by he iscous ic ion coe icien
(
)
ž
B
ˆ
ω
. In
some cases, he ic ional o ces can be desc ibed in exac
unc ion. I may consis o Coulomb and iscous ic ion
e en ually he s a ic componen o S ibeck ic ion model.
Mo e demanding applica ions equi e a dynamic model o
ic ion. Because componen o he iscous ic ion is
unc ion o speed i may be compensa ed by eedback loop
and Coulomb ic ion and S ibeck ic ion can be elimina ed
by eed o wa d o m. Since he acquisi ion o ic ion
cha ac e is ics is ela i ely complica ed, de ailed desc ip ion
o his o m o eed o wa d loop will be le o o he
publica ions.
The las men ioned o m o eed o wa d is o m based
on uzzy logic and neu al ne wo ks. These can be used, o
example. in applica ions whe e he acquisi ion o ha ic ion
model is impossible o di icul o implemen . Lea ning
algo i hm compensa es nonlinea i ies ha classical eedback
algo i hm could no be compensa ed [7].
5. Conclusion
The pape has a aims o map ou some ac s ega ding
eed o wa d loops u ilized in comme cial ac ua o s. Indica es
wha should be hinking and wha should be conside ed in
he design o he ac ua o wi h eed o wa d loops (i is mean
ac ua o wi h high p ecision posi ioning), whe e no only
posi ion bu also i s de i a i es a e o ced o ollow he
equi ed e e ences. I is discussing he issue solely om he
pe spec i e o con ol a iables and associa ed esponses.
View o he aul a iables will be le o o he publica ions.
Acknowledgmen s
The au ho s wish o hank Eu opean egional
de elopmen und o unding he p ojec “Cen um
excelen nos i ýkono ých elek onických sys émo
a ma e iálo p e ich komponen y“ o ope a ing p og am
R&D.
Re e ences
[1] MALEK, M., MAKYŠ, P., ŠTULRAJTER, M.: An in oduc ion o
eed o wa d con ol o Elec ical D i es [in slo ak], AEEE, 2010,
Vol.8, No.3.
[2] KALAŠ, V.: Se omechanizmy a au oma izo ané pohony I, Edičné
s edisko SVŠT, B a isla a, 1974.
[3] PHELAN, R.M.: Pseudo-De i a i e Feedback (PDF) Con ol, UCRL
- 51036, Uni e si y o Cali o nia, Law ence Li e mo e Labo a o y,
1971.
[4] DODDS, S. J., VITTEK, J.: Robus Posi ion Con ol wi h Induc ion
Mo o , EPE-EMC, Sep embe 2000, Košice, ol. 6, s.35-40.
42 POWER ENGINEERING AND ELECTRICAL ENGINEERING, VOL. 9, NO. 1, MARCH 2011
© 2011 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING ISSN 1804-3119
[5] MALEK,M.: Posi ion con ol o a se od i e wi h pe manen magne
synch onous mo o wi h di ec o que and lux con ol, Disse a ion
wo k, Uni e si y o Zilina, 2008.
[6] D i en by p ecision [online]. 2011 [ci . 2011-03-21]. Maxon mo o .
Dos upné z WWW: <h p://www.maxonmo o .com>.
[7] SEIDL, D.R., REINEKING, T. L., LORENZ, R. D.: Use o Neu al
Ne wo k o Iden i y and Compensa e o F ic ion in P ecision Posi ion
Con olled Mechanisms, P oceeding IEEE-IAS Annual Mee ing,
1992, pp. 1937-1944.
[8] LEONHARD, W.: Con ol o Elec ical D i es, Sp inge Ve lag, 3nd
edi ion ,Sep embe 21, 2001, ISBN 3-504-41820-2.
[9] Pe ec ion in au oma ion [online]. 2010 [ci . 2011-03-21]. In eg a ed
solu ions o a compe i i e edge!. Dos upné z WWW: <h p://www.b -
au oma ion.com>.
Abou Au ho s ...
Michal MALEK was bo n in 1977 in Myja a, Slo akia. He
g adua ed om Uni e si y o Žilina in 2000. He ob ained his
PhD deg ee in powe elec ical enginee ing. He wo ked as a
echnician, PLC p og amme and uni e si y lec u e . His
esea ch ac i i y was ocused on di ec o que and lux
con ol o PMSM.
Pa ol MAKYŠ was bo n in 1980, in Báno ce nad
Beb a ou, Slo akia. He g adua ed om Uni e si y o Zilina.
He ob ained his PhD deg ee in powe elec onic and
elec ical d i es a Uni e si y o Zilina in 2006. Ac ually he
wo k as a eache and esea che a Uni e si y o Zilina
whe e his ac i i ies a e o ien ed on digi al signal p ocesso
implemen a ion in elec ic d i es applica ions.
Ma ek ŠTULRAJTER was bo n in 1980, in B ezno,
Slo akia. He g adua ed om Uni e si y o Zilina. He
ob ained his PhD deg ee in powe elec onic and elec ical
d i es a Uni e si y o Zilina in 2006. His expe ise, eaching
ac i i ies and esea ch ha e been o ien ed o speci ic
domains o elec ical d i es like senso less con ol o AC
d i es, di e en ypes o con ol o AC/DC d i es by using
o digi al signal p ocesso s and so on.