Quantitative design and implementation of PI-D controller with model-following response for motor drive

The authors present the quantitative design and implementation of a PI-D 2-degreesof- freedom controller (2DOFC) for motor drives. The proposed 2DOF controller consists of a PI-D feedback (also called the PI plus rate feedback) controller and a command feedforward controller. A quantitative design procedure is derived to find the parameters of a 2DOF controller systematically according to the given motor drive specifications. In addition to the tracking and regulation speed control specifications, the effects of command change rate as well as control effort are also considered in the proposed design procedure. As the operation condition changes occur, a model-following controller (MFC) is added to preserve the control specifications. The analysis and design of the proposed controller for the speed control of an induction motor drive are described in detail, and some simulation and measured results are provided to show its performance.