The application of self-tuning digital controllers in variable-speed drives

This paper presents an account of an investigation into the performance of multi-loop interacting digital self-tuning digital controllers for electromechanical drives incorporating a DC motor. The structure of the pole-placement design algorithm is reviewed along with the modifications required to enable simultaneous estimates of parameters for multiple plant models. Results from a series of studies of current and speed controllers applied to a variable speed high performance DC drive are presented. The results obtained show the effects on the system response of changes in the main electrical and mechanical parameters of the drive. The response of the drive to a cycle of reference speed changes is also shown. The results are shown to compare favourably with those obtained previously by A.F. Stronach et. al. (see IEE 4th Internat. Conf., Control ´94, p783-8, 1994). The basic nature of the run-up transient is shown to be insensitive to parameter changes