Update the outer loop PI controller with the new gains.
Kpw = SpeedLoopGains(1);
Kiw = SpeedLoopGains(2);
Improved Tracking Performance After Autotuning
Now, you have tuned the PID gains for both controllers to give a better performance in
the speed control of the BLDC motor plant model. To check the tuned controller
performance, disable tuning in both loops.
set_param([mdl '/Control/Tune Inner Voltage Loop'],'Value','0');
set_param([mdl '/Control/Tune Outer Speed Loop'],'Value','0');
The tuned gains result in better tracking of the test ramp signals.
sim(mdl);
BLDC Motor Speed Control with Cascade PI controllers