Adaptive Fuzzy PI Controller Tuning Method For Speed Tracking of Permanent Magnet Synchronous Motor Servo System

The satisfactory speed tracking performance of a permanent magnet synchronous motor (PMSM) is hard to achieve due to the unknown disturbances, time-varying parameters, and actuator saturation. In this paper, an adaptive fuzzy PI controller with robust updating rules is proposed to improve the dynamic response of the PMSM servo system and reduce the impacts of disturbances. This controller can regulate conventional PI controller gains online with a fuzzy tuner. The scaling factors of the fuzzy tuner are online optimized by a fuzzy regulator when initial information of the dynamic non-linear system isn’t enough for designing fixed parameters fuzzy tuner in advance. Meanwhile, the robust updating rules are designed to ensure the stability and robustness of the optimization process. Through real-time PMSM speed control experiments, it is found that the proposed adaptive fuzzy PI controller is effective, and the speed-tracking and anti-disturbance performance can be improved comparing to a conventional PI controller.