Parameter identification and automatic control loop tuning for PMAC servo motor drives

High performance servo motor drives generally consisted of current, velocity, and position control loops. Tuning these controllers to achieve satisfactory and consistent dynamic responses is important. In this paper, a parameter identification and auto-tuning scheme for PMAC servo motor drives is presented. Motor electrical parameters such as resistance and inductances are identified first for current control loop tuning. Then, torque constant and mechanical parameters are identified for velocity and position loop tuning. The experimental results verified that the proposed scheme can estimate parameters with good accuracy. Furthermore, depending on the setting of the tuning process, the auto-tune process can be completed within 1.9 seconds. The control system tuned by the proposed scheme can achieve good dynamic performance.