Self-tuning method for PI regulators of PMSM servo system based on frequency-response characteristic

An on-line adaptive control based on parameter identification is proposed to solve the problem that motor parameters vary with the changing working environments, which results in the precision of control system to be affected. The motor resistance and inductance are identified by using recursive least squares method with forgetting factor. The parameters of PI regulator are obtained based on the requirement of the system for the frequency domain characteristics.