Configure Autotuner Block
After connecting the Closed-Loop PID Autotuner block with the plant model and PID
block, configure the tuning and experiment settings.
On the Tuning tab, there are two main tuning settings:
- Target bandwidth - Determines how fast you want the controller to respond. In this
example, choose 5000 rad/sec for inner-loop current control and 200 rad/sec for
outer-loop control. - Target phase margin - Determines how robust you want the controller to be. In this
example, choose 70 degrees for inner-loop current control and 90 degrees for outer-
loop control.
On the Experiment tab, there are three main experiment settings:
- Plant Type - Specifies whether the plant is asymptotically stable or integrating. In this
example, the FOC ASM model is stable. - Plant Sign - Specifies whether the plant has a positive or negative sign. The plant
sign is positive if a positive change in the plant input at the nominal operating point
results in a positive change in the plant output when the plant reaches a new steady
state. Otherwise, the plant sign is negative. If a plant is stable, the plant sign is
equivalent to the sign of its dc gain. If a plant is integrating, the plant sign is positive
(or negative) if the plant output keeps increasing (or decreasing). In this example, the
FOC ASM model has a positive plant sign.
Tune Field-Oriented Controllers for an Asynchronous Machine Using Closed-Loop PID Autotuner Block