Self-tuning speed control for servo drives with imperfect mechanical load

A self-tuning PI-speed control for drives featuring elasticity is presented including automatic identification of total inertia, estimation of the frequency response function for the mechanical plant and optimal design of PI-speed controller. The approach allows automatic controller commissioning for drives already mounted in the mechanical environment of the industrial plant because position, speed and torque of the motor are kept within specified limits during the identification process. The control performance is compared to the results of an analytic design method based on a parametric two-mass model.