Robust self-tuning speed servo system for wide speed range based on instantaneous speed observer and disturbance observer

This paper proposes a new robust self-tuning speed servo system for a wide speed reference which is based on the instantaneous speed observer and the disturbance observer. In order to regulate a motor speed for a wide speed reference including a very low speed range, this paper designs the instantaneous speed observer which uses the information of an armature current and an armature voltage. The proposed observer takes account of both the resistance variation and the forward voltage drop. Moreover, for the purpose of realizing the robust speed control, this paper constructs the disturbance observer mounted with the inertia identification algorithm and the self-tuning I-P speed controller. The total system becomes the robust self-tuning speed servo system for a wide speed range