Decentralized Current Sensorless Speed Synchronization With Feedback-Loop Adaptation for Multiservo System Applications

This study presents a parameter-independent decentralized speed synchronizer for multiservo systems without a current feedback loop, considering the current dynamics. The observer (not requiring system parameter information) exponentially estimates the speed derivative as updating the speed error to be vanished with the closed-loop pole-zero cancellation nature. The resultant estimates render it possible to implement the proposed decentralized synchronizer a the real-time feedback-loop adaptation, using only the nominal system parameter information. Two sets of QUBE-servo2 and myRIO1900 processors constitute the decentralized experimental platform to verify the closed-loop effectiveness.