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Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
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Relative Motion Analysis using Rotating Axes - Acceleration01:22

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Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame. The absolute velocity of point B is determined by adding the absolute velocity of point A, the relative velocity of point B in the rotating frame, and the effects caused by the angular velocity within the rotating frame.
Time differentiation is...
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Related Experiment Video

Updated: Oct 3, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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High-Resolution Permanent Magnet Drive Using Separated Observers for Acceleration Estimation and Control.

Yi-Jen Lin1, Po-Huan Chou2, Shih-Chin Yang1

  • 1Department of Mechanical Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Rd., Taipei 10617, Taiwan.

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|February 15, 2022
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Summary

This study introduces enhanced permanent magnet (PM) motor control for high-resolution tasks like PCB drilling. The method improves both speed and accuracy by using advanced position sensing and acceleration feedback.

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Area of Science:

  • Electrical Engineering
  • Control Systems Engineering
  • Mechatronics

Background:

  • Permanent magnet (PM) motors are crucial in precision manufacturing, such as printed circuit board (PCB) drilling, requiring high resolution (e.g., 1 μm).
  • Traditional motion control relies on sine/cosine incremental encoders, which can limit steady-state accuracy and transient response.

Purpose of the Study:

  • To enhance the motion control accuracy and transient response of permanent magnet motor drives.
  • To develop a high-resolution position sensing and feedback control system for precision applications.

Main Methods:

  • Proposed position interpolation technique to increase encoder resolution by processing every two counts.
  • Developed a closed-loop observer with dual independent bandwidths for accurate acceleration estimation.
  • Implemented acceleration closed-loop control to compensate for vibration-induced torque harmonics.

Main Results:

  • Achieved significant improvements in both transient response and steady-state accuracy of the PM motor drive.
  • Demonstrated effective compensation of high-frequency torque harmonics through acceleration feedback.
  • Validated the proposed methods experimentally on a PM motor system.

Conclusions:

  • The combined approach of position interpolation and acceleration control enhances PM motor drive performance.
  • The developed methods offer a cost-effective solution for achieving high-resolution motion control without additional sensing hardware.
  • This technique is applicable to precision manufacturing processes demanding sub-micrometer accuracy.