Completely digital PMSM servo system based on new self-tuning PID algorithm and DSP

This paper describes a high performance fully digital implementation of a permanent magnet synchronous motor (PMSM) servo system. On the basis of the vector control principle, the system is controlled by an INTEL 8031 microprocessor and a TMS320C25 DSP chip. A new self-tuning PID algorithm based on LATE optimal rule is used in the speed loop. The experimental result demonstrates that the system is capable to improve the performance in terms of precision of control action, dynamic response and flexibility, even when the system parameters are varied.