Novel Online Optimal Bandwidth Search and Autotuning Techniques for Servo Motor Drives

The main theme of this paper is to propose fast online optimal bandwidth search and controller tuning techniques for servo motor drives. The proposed controller tuning method derives the controller gains by searching the optimal bandwidth and identifying the inertia. The optimal bandwidth search can be achieved before oscillation occurs. It will be shown that the gains of speed controller of servo drives are tuned automatically to reflect the load variation. Experimental results derived from digital signal processor-controlled permanent magnet synchronous motor servo drives will be shown. The results demonstrate online optimal bandwidth search and autogain tuning can be achieved without motor and load information in prior. These results fully support the developed techniques and claims.