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Observer-based inertial identification for auto-tuning servo motor drives

In servo motor drive applications variation of inertia degrades drive's performance. Motor response is affected not only by external disturbance input but also by mechanical parameters such as inertia and friction. These factors must all be considered in order for accurate inertia identification and drive tuning. In this paper, an observer-based auto-tuning scheme for servo motor drives is presented. This scheme is consisted of a state estimator to estimate motor disturbance and two adaptive controllers to separately adjust drive inertia and friction to their correct value. The servo control loop is tuned automatically with the inertia found. The experimental results show that this auto-tuning scheme can achieve good performance and that the scheme is able to estimate the mechanical parameters accurately.