Automatic tuning of a servo drive speed controller for industrial applications

This paper deals with an automatic tuning approach of a servo drive speed controller for industrial applications. Data driven models of different order are generated during an identification process an yield a low order nominal model with an estimation of a multiplicative uncertainty model. The nominal model and the uncertainy model are then applied to define a mixed sensivity control problem which is solved by standard H-infinity control tools. In view of the given fixed controller structure the control problem is defined in such a way that the resulting controller can directly be used without a controller order reduction procedure. The effectiveness of the concept is demonstrated on an industrial application.