Self-tuning Control Method Based on Online Identification for Robot Servo System

Changes in load parameters will affect the steady- state and transient-state performance of robot servo systems, so it is important to perform parameter self-tuning control methods for Proportional Integral (PI) controller. In this paper, a PI controller parameter self-tuning method based on frequent- domain and time-domain indexes for a permanent magnet synchronous motor (PMSM) servo system is proposed, and the Recursive Least Squares (RLS) algorithm with an identification switch is used to obtain the load inertia which is used to update self-tuning PI parameters in real time. The results of the simulation show that the algorithm proposed in this paper improves the system performance effectively.