Autotuning of axis control systems for robots and machine tools

The authors describe an autotuned high-performance digital position and speed control system applied to permanent magnet synchronous motors fed by pulsewidth modulated inverters. The design of the RST controllers used in the speed and position loops and the identification process for the automatic tuning of the controllers are presented. The effects of the neglected small time constants of the process noise and of the load torque disturbances are studied and illustrated with simulation and experimental results.<
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