Translated Titles

Automatic Parameters Identification and Auto-Tuning of Control Gains for PMAC Servo Motor Drives





Key Words

永磁交流伺服馬達 ; 參數自動鑑別 ; 控制增益自動調整 ; PMAC Servo Motor ; Automatic Parameters Identification ; Auto-tuning of Control Gains



Volume or Term/Year and Month of Publication


Academic Degree Category




Content Language


Chinese Abstract


English Abstract

Permanent magnet AC motors are widely used in high-performance servo control systems for machine tools and industrial automations. The control system includes current and servo control loops. Tuning of the controllers is extremely important for these motor drives to achieve stable and fast responses. Conventional manual tuning requires skilled technician with electrical machines and control background. Increased labor cost and setup time renders a less cost-competitive control system. In this thesis, a scheme for automatic tuning of PMAC servo drives is presented. The controller produces a series of test signals to measure motor electrical and mechanical parameters automatically. Then, the gains for the required control performance are calculated and setup based on the measured parameters. Finally, in normal operations, motor mechanical parameters can be measured continuously to adjust servo controller gains for the required dynamic responses. Both the theoretical analysis and the experimental verifications are included in the thesis. According the experimental results the control systems can be setup within 7 seconds.

Topic Category 電資學院 > 電機工程系所
工程學 > 電機工程
  1. [7] C. D. Schauder and R. Caddy, “Current Control of Voltage-source Inverter for Fast Four-quadrant Drive Performance”, IEEE Transactions on Industry Application, Vol. IA-18, no. 2, 1982, pp. 163-171.
  2. [8] Y. S. Lai, J. C. Lin, and J. J. Wang, “Direct Torque Control Induction Motor Drives with Self-Commissioning Based on Taguchi Methodology”, IEEE Transactions on Power Electronics, Vol. 15 , no. 6, Jun. 2000, pp. 1065-1071.
  3. [9] J. W. Choi and S. K. Sul, “Inverter Output Voltage Synthesis Using Novel Dead Time Compensation”, IEEE Transactions on Power Electronics, Vol. 11, no. 2, 1996, pp. 221 -227.
  4. [10] K. Liu, Z. Q. Zhu, Q. Zhang, and J. Zhang, “Influence of Nonideal Voltage Measurement on Parameter Estimation in Permanent-Magnet Synchronous Machines”, IEEE Transactions on Industrial Electronics, Vol. 59 , no. 6, Jun. 2012, pp. 2438-2447.
  5. [11] S. H. Hwang and J. M. Kim, “Dead Time Compensation Method for Voltage-fed PWM Inverter”, IEEE Transactions on Energy Conversion, Vol. 25, no. 1, 2010, pp. 1 -10.
  6. [12] S. Y. Kim, W. Lee, M. S. Rho, and S. Y. Park, “Effective Dead-time Compensation Using a Simple Vectorial Disturbance Estimator in PMSM Drives”, IEEE Transactions on Industrial Electronics, Vol. 57, no. 5, 2010, pp. 1609 -1614.
  7. [13] K. Lu, M. Vetuschi, P. O. Rasmussen, and A. E. Ritchie, “Determination of High-Frequency d- and q–axis Inductances for Surface-Mounted Permanent-Magnet Synchronous Machines”, IEEE Transactions on Instrumentation and Measurement, Vol.59, no. 9, Sep. 2010, pp. 2376-2382.
  8. [14] G. B. Kang, J. H. Jung, H. B. Ihm, and H. G. Kim, “Initial Rotor Angle and Parameter Estimation Scheme for IPM Synchronous Motor in Hybrid Electric Vehicle at Standstill”, Proceedings of the 35th International Conference on Power Electronics Specialists, Jun. 2004, pp. 4006-4009.
  9. [15] R. Dutta and M. F. Rahman, “A Comparative Analysis of Two Test Methods of Measuring d- and q-Axes Inductances of Interior Permanent-Magnet Machine”, IEEE Transactions on Magnetics, Vol. 42, no.11, Nov. 2006, pp. 3712-3718.
  10. [16] H. Kim and R. D. Lorenz, “Improved Current Regulators for IPM Machine Drives Using On-Line Parameter Estimation”, Proceedings of 37th the International Conference on Industry Applications, Oct. 2002, pp. 86-91.
  11. [17] S. J. Underwood and I. Husain, “Online Parameter Estimation and Adaptive Control of Permanent-Magnet Synchronous Machines”, IEEE Transactions on Industrial Electronics, Vol. 57, no. 7, Jul. 2010, pp. 2435-2443.
  12. [18] M. Tomita, T. Senjyu, S. Doki, and S. Okuma, “New Sensorless Control for Brushless DC Motors Using Disturbance Observers and Adaptive Velocity Estimations”, IEEE Transactions on Industrial Electronics, Vol. 45, no. 2, Apr. 1998, pp.274 -282.
  13. [19] S. Morimoto, K. Kawamoto, M. Sanada, and Y. Takeda. “Sensorless Control Strategy for Salient-Pole PMSM Based on Extended EMF in Rotating Reference Frame”, IEEE Transactions on Industry Applications, Vol.38, no.4, July/Aug 2002, pp. 1054-1061.
  14. [20] S. Morimoto, M. Sanada, and Y. Takeda, "Mechanical Sensorless Drives of IPMSM With Online Parameter Identification", IEEE Transactions on Industry Applications, Vol. 42, no. 5, Sep. 2006, pp. 1241-1248.
  15. [21] S. B. Lee, “Closed-Loop Estimation of Permanent Magnet Synchronous Motor Parameters by PI Controller Gain Tuning”, IEEE Transactions on Energy Conversion, Vol. 4, no. 4, Dec. 2006, pp. 863-870.
  16. [22] C. Y. Wu, M. C. Tasi, and S. H. Mao, “Characteristics Measurement of Direct-Drive Brushless DC Motors without Using Dynamometers”, Proceedings of the International Conference on Electrical Machines and System, Nov. 2009, pp. 1-6.
  17. [23] B. Zhang, Y. Li, and Y. Zuo, “A DSP-Based Fully Digital PMSM Servo Drive Using On-Line Self-Tuning PI Controller”, Proceedings of the International Conference on Power Electronics and Motion Control, 2000, pp. 1012-1017.
  18. [26] Ku Chin Lin, “Observer-Based Tension Feedback Control with Friction and Inertia Compensation”, IEEE Transactions on Control Systems Technology, Vol. 11, no.1, Jan. 2003, pp. 109-118.
  19. [27] T. Murakami and K. Ohnishi, “Observer-Based Motion Control-Application to Robust Control and Parameter Identification”, Motion Control Proceedings of Asia-Pacific Workshop on Advanced, Jul. 1993, pp. 1-6.
  20. [28] K. B. Lee, J. H. Song, I. Choy, and J.Y. Yoo, “An Inertia Identification Using ROELO for Low Speed Control of Electric Machine”, Proceedings of the 8th International Conference on Applied Power Electronics, Feb. 2003, pp. 1052-1055.
  21. [29] S. Kobayashi, I. Awaya, H. Kuromaru, and K. Oshitani, “Dynamic Model Based Auto-Tunig Digital Servo Driver”, IEEE Transactions on Industrial Electronics, Vol. 42, no. 5, Oct. 1995, pp. 462-466.
  22. [30] S. M. Yang and Y. J. Deng, “Observer-Based Inertial Identification for Auto-Tuning Servo Motor Drives”, Proceedings of the 4th International Conference on Industry Applications, Oct. 2005, pp. 968-972.
  23. [32] 許清翔,內藏型永磁交流馬達無轉軸位置感測器控制及其在壓縮機之應用,碩士論文,國立台北科技大學電機工程研究所,臺北,2010。
  24. [34] H. Zhu, X. Xiao, and Y. Li, “PI type dynamic decoupling control scheme for PMSM high speed operation”, Proceedings of the 25th International Conference on Applied Power Electronics, 2010, pp. 1736-1739.
  25. [35] B. H. Bae, S. K. Sul, J. H. Kwon, and J. S. Byeon, “Implementation of sensorless vector control for super-high-speed PMSM of turbo-compressor”, IEEE Transactions on Industry Application, Vol. 39, no. 3, May./Jun. 2003, pp. 811-818.
  26. [37] S. M. Yang and S. J. Ke, “Performance Evaluation of a Velocity Observer for Accurate Velocity Estimation of Servo Motor Drives”, IEEE Transactions on Industry Application, Vol. 36, no. 1, Jan./Feb. 2000, pp. 98-104.
  27. [38] Yoan D. Landau, Adaptive Control, London : Springer Press, 1998.
  28. [1] 趙時興、邱國齡、丁家敏、方宏聲,「伺服馬達與驅動器技術介紹」,機械工業雜誌,第三百四十九期,2012,第55-70頁。
  29. [2] 趙時興、曾紹瑋,「伺服馬達技術與塑膠射出成型機應用」,機械月刊,第三十八卷,第三期,2012,第6-19頁。
  30. [3] 柯志隆,「數位伺服驅動技術」,機械月刊,第三十八卷,第三期,2008,第50-64頁。
  31. [4] 陳金聖、李峰吉、陳建旭,「速度伺服迴路與前饋控制器設計」,機械工業雜誌,第三百四十九期,2012,第14-28頁。
  32. [5] F. Blaschke, “The Principle of Field Orientation as Applied to the New TRANSVEKTOR Closed-Loop Control System for Rotating-Field Machines”, Siemens Review, Vol.34, 1972, pp. 217-220.
  33. [6] K. Hasse, “Zur Dynamik Drehzahlgeregelter Antriebe Mit Stromrichterg- espeisten Asynchron-Kurzschlublaufermaschinen”, Techn. Hochsch Darmstadt, Germany, 1969.
  34. [24] J. K. Kang, J. T. Lee, Y. M. Kim, B. H. Kwon, and K. S. Choi, “Speed Controller Design for Induction Motor Drives Using A PDF Control and Load Disturbance Observer”, Proceedings of 1991 International Conference on Industrial Electronics, Control and Instrumentation, Nov. 1991, pp. 799-803.
  35. [25] S. Komada, M. Ishida, K. Ohnishi, and T. Hori, “Motion Control of Linear Synchronous Motors Based on Disturbance Observer”, Proceedings of the International Conference on IEEE Industrial Electronics Society, Nov. 1990, pp. 154-159.
  36. [31] 鄧育杰,永磁同步馬達伺服控制系統之機械參數自動量測,碩士論文,淡江大學機械與機電工程研究所,臺北,2005。
  37. [33] D. W. Novotny and T. A. Lipo, Vector control and dynamics of AC drives, Oxford University Press, 1996.
  38. [36] N. Mastui and T. Takeshita, “A Novel Starting Method of Sensorless Salient-Pole Brushless Motor”, Proceedings of 1994 International Conference on Industry Applications Society Annual Meeting, Oct. 1994, pp. 386-392.