A DSP-based fully digital PMSM servo drive using on-line self-tuning PI controller

A DSP-based fully digital drive for AC servo application is presented in this paper, in which a high performance DSP is used and all the control loops (speed and current) are implemented with software. Taking advantage of the fast calculation ability of DSP, this paper also designs an on-line self-tuning PI controller, which can detect the mechanical inertia time of this drive and realize the automatic adjustment of speed loop PI controller parameter. The simulation and experiment results have demonstrated that the drive has a good dynamic and robust performance.