Off-Line Auto-Tuning of a Microcontroller-Based PMSM Servo Drive

Servo motor drives usually consist of current, speed, and position controller loops. It is essential to set the controller gains correctly so that a high dynamic response can be achieved. In this paper, a simple off-line tuning of speed and current controllers is proposed with estimation of electrical (resistance and inductances) and mechanical parameters (inertia and viscous friction) of permanent magnet synchronous motor (PMSM). The proposed off-line auto-tuning method has been simulated in Matlab/Simulink and the experimental results are presented based on TMS320×28xxx. By comparing the results of simulations and experiments, it has been seen that the electrical and mechanical parameters are estimated correctly.