The design and DSP implementation of self-configuring controllers for high performance electromechanical drives

The paper presents a detailed design procedure for self-configuring controllers which can be used in both DC and AC motor drives. An outline of the main features of the RLS estimator-based identification scheme, the controller structure and the pole-placement design algorithm is presented. Results are given for single, twin and triple self-configuring controller DC motor drives. Results are also given for application of self-configuring controllers within scalar, DTC and vector forms of an AC motor drive. Drive responses obtained are comparable to the corresponding performances obtained with fixed gain controllers. It is demonstrated that it is an important advantage that the self-configuring controllers can be implemented from an initial open loop configuration, thereby eliminating the need for any detailed a priori design. The responses obtained show that good performance can be obtained using the proposed controller schemes for all of the drive types considered using low order forms of controller/drive model. It is also shown that the DSP requirements are modest