Research on inertia identification and auto-tuning of speed controller for AC servo system

The performance of an AC servo system is highly influenced by uncertainties of unpredictable mechanical parameter variations and external load disturbances. In order to improve the system dynamic performance, it is necessary to identify the mechanical parameters and to auto-tune the speed controller. An online identification method of mechanical parameters based on MRAS for a one-mass system and a two-mass system are introduced in this paper and schemes for auto-tuning the speed controller are presented as well. A comparison of the difference and compatibility between auto-tuning methods applied to one-mass system and two-mass systems respectively is presented. Simulation and experimental results show the usefulness of the proposed methods.