Auto-Tuning Control of a SERCOS-Networked Digital AC Servo Drive

摘要

This paper proposes an auto-tuning control scheme for digital motor drives using SERCOS based real-time network technology. A DSP-based digital ac servo drive with SERCOS interface has been constructed. A practical auto-tuning scheme employing minimizing a defined cost function of the process under control has been proposed and realized. Using the developed auto-tuning scheme, the control parameters can be tuned to reach an optimal performance with large parameter uncertainties and load disturbances. The proposed auto-tuning algorithm has been realized and verified using MATLAB and an on-line DSP-controlled PMSM servo drive. Experimental results show the proposed auto-tuning servo drive can achieve good performances with unknown motor parameters. Experimental verification has been carried out on SERCOS based torque drives.