Motion Control Auto-tune for Traction Motor at Standstill using Virtual Damping for Inertia Estimation Improvement

This paper proposes an auto-tune process at standstill for the motion controller of permanent magnet (PM) motor. Traditional motion controller auto-tune relies on the motor acceleration and deceleration to estimate the inertia and damping parameter. Considering traction motors coupled with gear boxes in vehicles, the safety issue might appear under on-road vehicle movement. For the parameter estimation of these traction motors, a static inertia and damping estimation based on a small speed perturbation is proposed. Because the traction motor coupled with gear box typically contains high inertia, the virtual damping is proposed to improve the motor dynamic for accurate inertia estimation. After obtaining these mechanical parameters, a high dynamic motion controller is developed including the acceleration feedforward using estimated parameters. A 400W PM motor prototype coupled with different rotating loads is used to verify the proposed static parameter estimation with virtual damping.