Generic criterion for tuning of adaptive digital PI current compensators of PMSM drives

Analytical selection of gains of a discrete PI current regulator together with practical setting guidelines of their scheduling are presented in this paper. The gains of the most inner control loop in the field-oriented vector control scheme for PMSM drives adapt in the real time to the motor torque nonlinearity driven by the magnetic saturation. Discussed tuning criterion is considered as a generic solution for automated setting up of servo-drives basing on motor data sheet. The considerations are based on an interpretation of presented experimental results.