Speed controller for a drive with complex mechanical structure and variable parameters

The paper presents the problem of obtaining a good dynamics of the PMSM drive with complex mechanical structure and variable moment of inertia. Proposed approach bases on proper design of feedback filter to reduce influence of mechanical resonance´s and applying a neural speed controller trained online, which can adapt itself to variable inertia. As an alternative, robust PI controller with set-point weighting is presented. The results of simulation and experimental investigations show good properties of designed control system.