Design of a self-tunig PI speed controller for servo systems

서보전동기 구동시스템의 자기동조 비례적분 속도제어기 설계

This paper presents an algorithm to design a self-tuning proportional-integral(PI) speed controller for servo systems. The control gains are calculated with estimated system parameters, i.e. inertia and viscous damping which are estimated by initial operation. The simulation and experimental results show the feasibility and performance of the proposed algorithm.