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

A robust servo system is important for performance improvement of motion control system 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 actuator and power amplifier. An ordinary industrial position servo system often has 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. Because, an ordinary position servo system has the complicated control structure with many control loops. Hence, it sometimes has the large overshoot and the oscillated response by 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 the quick and stable position response for the saturation of motor current and motor speed.