Self-commissioning technique for high bandwidth servo motor drives

The main theme of this paper is to propose a self-commissioning technique for high bandwidth servo drives. The presented self-commissioning technique include auto-identification of servo motor parameters and on-line calculation of controller gains of servo drives. The electrical parameters required for current controller, including stator resistance and inductance are identified under standstill. And followed by deriving the mechanical parameters for determining the speed and position controllers. The gains for current controllers are determined based upon the magnitude optimal method as the delay is considered while retaining the maximum phase margin. And the gains for speed controller are derived based upon symmetrical optimum method to increase the bandwidth as taking the current loop into consideration for speed gain design. Comparing with conventional self-commissioning method, the proposed method provides real alignment of rotor axis along the q-axis for q-axis inductance identification. Moreover, the proposed method gives significant bandwidth improvement of servo drives. Experimental results derived from DSP-controlled PMSM servo drives system will be shown. The results demonstrate high bandwidth servo drives can be achieved by the proposed self-commissioning technique. These results fully support the developed techniques and claims.