A self-tuning PI controller for the speed control of electrical motor drives

• A self-tuning PI speed controller for HSM drives is proposed.
• The PI controller gains are designed as a function of the speed error.
• The proposed self-tuning PI controller is compared with the 1DOF and 2DOF PI control methods.
• The proposed controller is implemented with DSP-DS1102 control board and evaluated through laboratory experiments for a HSM drive.

This paper proposes a self-tuning PI controller for the speed control of electrical motor drives. The proposed PI controller gains are adjustable parameters and will be updated online depending on the speed error. They are designed to vary within a pre-determined range to eliminate the problems faced by the conventional fixed PI controller. The performance of the proposed self-tuning PI controller using a field oriented control (FOC) of hybrid stepper motor (HSM) is simulated and compared with the conventional PI controller under tracking performance, parameters variation and load torque disturbances. The proposed controller is implemented with DSP-DS1102 control board and evaluated through laboratory experiments for the HSM drive. Simulation and experimental results show the effectiveness of the proposed approach. It is very simple and has given improved results when compared with previous approaches.