Performance control of PMSM drives using a self-tuning PID

In this paper a self-tuning PID controller based on generalized minimum variance method is applied to the permanent-magnet synchronous motors (PMSM) speed control system. The proposed method has approximate minimum variance properties, and can guarantee the stability of the close-loop system by pole-assignment, which is based on the discrete-time mechanical equation and dynamic model of the q-axis current control loop of the PMSM drive system. The complete vector control scheme using the self-tuning PID is implemented in real-time based on a digital signal processor (DSP) for a surface PMSM. Comparing conventional PID regulator, the proposed self-tuning regulator makes the speed control of the PMSM drive more robustness and high performance. Experiments are carried out at low and high speeds, results verified the efficacy of the proposed method.