Real-Time Implementation of Auto-Tuned PID Control in PMSM Drives

Permanent magnet synchronous motors (PMSM) are widely favored in industry for their high efficiency, compact size, and robust performance. This study employs a model-based PID control approach for speed regulation of PMSM. In contrast to traditional PID approaches, this method addresses the inherent nonlinearity of PMSM systems and tunes PID coefficients dynamically for fast multi-input and multi-output (MIMO) operations. Traditional PID controllers typically assume linear motor dynamics and determine a single set of coefficients, often through trial and error. However, the nonlinear dynamics of motor drives and variations in motor parameters often lead to instability, limiting the effectiveness of conventional PID controllers. The proposed auto-tuning PID controller adjusts its coefficients in real-time based on the system’s operational state. This method has been implemented in both simulation and experimental setups, with real-time execution facilitated by dSPACE DS1104. A comparative analysis with conventional PI control demonstrates the enhanced stability and adaptability of the proposed approach.