Generally, position controllers for servo motor drives utilize cascaded structures with speed and current controllers in inner loops. This structure provides easy gain setups and independent limits for control variables such as maximum torque or speed. However, it suffers from a large computation time and poor dynamic characteristics for the position control since the bandwidth must be low enough to guarantee those of the speed and current controllers. To cope with this, two non-cascaded position controllers where speed controller is removed are proposed. The first one is equivalent to the conventional controller in terms of the dynamic characteristics. However, the number of gains for the position control is reduced. The second one is aimed at improving the dynamic characteristics with more complicated structures. The proposed methods are effectively validated through MATLAB/Simulink simulations and 3.7 kW IPM motor drive experiments.

通常，用于伺服电动机驱动器的位置控制器利用内部环路中具有速度和电流控制器的级联结构。这种结构提供了简单的增益设置和控制变量（例如最大扭矩或速度）的独立限制。然而，由于带宽必须足够低以保证速度控制器和电流控制器的带宽，因此位置控制的计算时间长且动态特性差。为了解决这个问题，提出了两个非级联的位置控制器，其中移除了速度控制器。就动态特性而言，第一个等效于常规控制器。但是，位置控制的增益数量减少了。第二个目标是通过更复杂的结构来改善动态特性。