Improving the Dynamics of an Electrical Drive Using a Modified Controller Structure Accompanied by Delayed Inputs

This paper presents the operation of a modified speed controller with a standard PI/PID structure that includes the preprocessing of the controller's input signal, focusing on the past behavior of control errors. The modification involves adding a delay line, with the outputs of the individual line segments summed with a weighting method, as detailed in the paper. One of the significant advantages of this method is its use of a standard industrial controller structure, which makes it highly practical and easily implementable in existing systems. By relying on well-established control frameworks, this approach reduces the need for specialized hardware or complex modifications, allowing for smoother integration and lower implementation costs. The delay-based signal shaping shows excellent properties for the electric drive system powered by a hard-switching PWM converter. The set of weighted delays acts as a filter whose parameters are chosen using the quality function to test different configurations for optimal performance. When tested in a speed control system for a Permanent Magnet Synchronous Motor, the modifications improved the control quality index, indicating better performance and efficiency. Importantly, the system allows for reducing or eliminating the gain in the differentiating part of the controller, which decreases motor current chattering and noise. This paper includes an experimental verification of the proposed solution in a laboratory setting under semi-industrial conditions.