Anti-windup algorithm with priority to proportional control output of speed PI controller for precision servo system

A robust servo system is important for performance improvement of motion control systems in several industry applications. Generally, a high-speed positioning servo system consists of robust control systems with integrator, such as PI controller. The industrial servo system always has the limitation for the capacity of the actuator and power amplifier. An ordinary industrial position servo system often has to deal with the saturation of motor current and motor speed. It is difficult for the high-speed positioning servo system to keep the robust position control against the saturation of motor current and motor speed. This is the case because an ordinary position servo system has a complicated control structure with many control loops. Hence, it sometimes has a large overshoot and an oscillated response due to the limitation of motor current and motor speed. In order to overcome this problem, this paper proposes a new robust high-speed positioning servo system considering the saturation of torque current and motor speed. The experimental results show that the proposed robust high-speed positioning servo system has quick and stable position response for the saturation of motor current and motor speed.