Control of Drives

Control of Drives

Prof. Dr.-Ing. Gerd Griepentrog

Course Cycle: every SS (2+2)

The lecture is structured into three main parts:

The first part is an introduction and deals with control structures for drive systems, the tuning of drive controls and inverters for controlled drives. Chapter 3 dealing with space vectors can also be regarded as an introduction, as the models of the ac-machines are based upon space vectors. It is explained how to construct space vectors from the physical quantities and the difference between space vectors and the vectorial representation of complex quantities is highlighted. Afterwards the common reference frames when dealing with ac-machines are presented.

Three types of drives -the dc-machine, the permanent magnet synchronous machine (PMSM) and the induction machine (IM)- are discussed in the second part to show how to control their torque. Starting with the most easiest type of drive, from the point of view of control theory, the block diagram of the drive is derived. Then different options to control the torque are presented: Linear controller, hardware hysteresis controller, field-oriented control and direct torque control, whereas the field-oriented control of PMSM and IM is in the main focus. The models/observers needed for field orientation of the IM are developed throughout this course. This second part is the most substantial.

The third part finally deals with the speed control of drives. As the different types of drives are discussed to the point of torque control in the second part, they on principle can be considered equivalent from the speed control point of view.


  • basics in control theory, e.g. Systemdynamik und Regelungstechnik I
  • Bases of Energy Engineering

Relevant Literature:

  • Schröder, Dierk: Elektrische Antriebe, Bd. 1-4, Springer-Lehrbuch, Berlin 19XX
  • Mohan, Ned: Electric Drives, Minneapolis 2001



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