Speed controller of servo system based on MRAS method

A speed controller based on MRAS method is presented to improve the speed control performance of the PMSM servo system. The output of system follows the output of reference model and maintains good speed performance when the motor parameters and load varies, which makes the system more robustness and adaptability. Experimental results demonstrate that compared with conventional PID control, the MRAS method can reduce the speed overshoot and speed ripple. When the inertia of the load varies the servo system can still maintain good speed control performance.