Implementation of three loop control for high-performance servo motor control using digital signal processors

In this paper, we present a novel method for implementing three-loop control of motors using digital signal processors (DSP). We introduce a fast current loop algorithm (FCL) to enhance the control performance of the servo motors. The three separate loops include the position, speed, and current control respectively. We implemented the three-loop control of motors using a TI C2000 series DSP and conducted laboratory testing. By comparison with traditional control methods, the proposed control method exhibits higher response speed, lower overshoot and greater resistance to external disturbances and system parameter changes. Hence, this method can be widely adopted in high-performance servo motor control applications