5 Torque Saturation of a Mechatronic Servo System

Abstract

In order to realize the high-speed motion of a mechatronic system, the power amplifier current for driving the torque of servo motor is adopted. This often generates a deterioration of contour control performance when occurring torque saturation. In this chapter, the measurement method of torque saturation and a simple algorithm of generating the motion velocity for preventing the deterioration of contour control performance, when the torque saturation properties are known, is shown.