| CPC G05B 13/042 (2013.01) | 20 Claims |
|
1. A system comprising:
an electric motor driving a load in the system, the electric motor including a stator, a rotor, and a position sensor determining a position of the rotor; and
a motor controller controlling operation of the electric motor, the motor controller including a control unit controlling movement of the rotor, the control unit including a static auto-tuning apparatus determining a plurality of gains to facilitate controlling movement of the rotor, the static auto-tuning apparatus including—
a speed reference signal generator generating a speed reference signal resulting in a speed response of the electric motor,
a correction unit using closed-loop feedback based on a speed command to correct a speed of the electric motor so that a magnitude of a high frequency response of the system is increased to facilitate estimating one or more characteristics of the system, and
an estimation unit estimating the one or more characteristics of the system based on the speed response and a determined virtual damping coefficient, and capturing a gain frequency response based on the one or more characteristics of the system, and determining the plurality of gains based on the gain frequency response,
wherein the control unit uses the plurality of gains in controlling movement of the rotor.
|