Auto-tuing Technology Of Speed And Positiion Controller Paramenters For PMSM Servo System

Traditional PID control is still the most widely control method in theindustrial process control systems. AC permanent magnet synchronous servosystem control performance depends on the rationality of the controllerparameter configuration. With the purpose of that the servo system hassatisfactory control performance in different working conditions, it is essential totune control parameters of the servo system. The manual tuning process isextremely complicated and technical staffs need professional knowledge. Thesubject aims to propose a controller parameters on-line self-tuning strategy basedon permanent magnet synchronous servo system, so that servo system canachieve automatic design and optimization of speed loop and position loopcontroller parameters in the case of without personnel involved in which meetsthe intelligence needs of servo system.The subject proposes an online controller parameters self-tuning strategy bycombining PI parameters self-tuning thinking based on model and rule in order toeliminate rotational inertia influence on permanent magnet synchronous servosystem control performance. It is the first step to use frequency domain methodto design controller parameters based on mathematical model of servo system,the second step to do further iterative optimization of control parameters basedon the idea of changing the control parameter stiffness, then obtain final tuningparameters.First, on the basis of the mathematical model of speed loop, the paperdesigns PI controller parameters of speed loop according to frequency domainmethod. Then use design parameters as baseline parameters and ITAE as costfunction to evaluate speed response performance in the different stiffness controlparameters. Last the paper determines PI controller parameters which make servosystem get the best control performance according to the minimum cost functionvalue.After self-tuning of speed loop controller parameters, the paper firstanalyzes the mathematical model of position loop and designs controllerparameters of position loop by frequency domain method. Aiming at specificityof position control performance, the paper proposes improved ITAE to evaluateposition response in the different stiffness control parameters to determine thetuning parameters of position loop. Finally, the paper validates the effectiveness and superiority of the controlparameters self-tuning function proposed by testing HIT and YASKAWA∑-Ⅴservo drive before and after the tuning process in similar working conditions.