Self-tuning Speed Controller with Load Parameters Observer for Servo Drives

Servo drives are widely employed in a large range of industrial applications where the load inertia and torque are varying. This paper proposes a control approach utilizing the load parameters adaptive observers to provide a stable servo drive operation under mechanical parameters variation. In contrast to other solutions, the observers are processing real speed and acceleration values instead of their command. It was shown that the observers are capable of estimating the load torque and total inertia of the drive system under different types of commands. The simulation of the proposed control approach demonstrated that the proportional gain of the speed controller tunes automatically according to the estimated inertia ensuring the required quality of the transient regardless variation of the mechanical subsystem parameters.