2. Control structure

To better understand the problem of implementing digital controls for electrical machines, we refer to figure 6 , which shows a general diagram of the control loops found in a system of this type. This general diagram is made up of several interlocking loops:

• an internal current regulation loop. This imposes the machine's flux and torque;

• a speed control loop. This generates the current reference ;

• an external position control loop. The output of this loop is the angular speed reference.