The drive remedies this instability by adding a second-order, or viscous, damping. This damping decreases the total phase lag so the motor cannot sustain oscillation, much in the same way shock absorbers damp the mass-spring suspension of a vehicle.
In the previous section it was shown that motor torque varies inversely with speed. This then is the motor’s natural speed-torque curve. Below a certain speed, called the corner speed, current would rise above the motor’s rated current, ultimately to destructive levels as the motor’s speed is reduced further.
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