A speed servo drive with disturbance observer and the moment of inertia identification

The paper introduces a speed servo drive with an automatic parameter tuning. A proportional controller (P-controller), a disturbance observer (DO) and a filter of the actual speed are used in the speed control loop. This structure is characterized by a low ripple of the manipulated variable. The identified value of the inertia moment is used to calculate the gain of the speed controller. An algorithm for the identification of the moment of inertia is described in the paper. It is not sensitive to the viscous friction and the accuracy of the identification is not affected by the dynamics of the speed control loop. Properties of the proposed solution have been tested by experiments and by simulations.