Precise position control of a PMSM based on new adaptive PID controllers

This paper presents a new kind of adaptive PID controller applied to the position control of a permanent magnet synchronous machine (PMSM). Instead of updating the proportional, integrative or derivative gains, the output of the nominal controller is multiplied by an adaptive correction factor, which is estimated by an ADALINE neural network. The proposed algorithm reduces the computational cost of the controller, because only one real-time updating is needed. Simulation and experimental results demonstrate that closed-loop position control of the PMSM with the proposed controllers is simple to implement and has a good performance, even considering variations of the parameters of the motor.