Simulink Control Design™ - MathWorks

The gray area in the previous figure shows the current and speed responses during

tuning, from 3.5 to 5.8 seconds. The changes in current and in motor speed are very

small. The motor speed reaches the nominal 1600 rpm before the autotuning process

begins.

The four PI controllers are tuned with new gains.

• The speed PI controller has gains of P = 158.8 and I = 2110.


• The flux PI controller has gains of P = 129.3 and I = 1732.


• The d-axis PI controller has gains of P = 1.611 and I = 627.6.


• The q-axis PI controller has gains of P = 2.029 and I = 829.9.

The same rotor speed references and torque loads are applied before and after the

autotuning process. Plot rotor speed errors with respect to the nominal 1600 rpm before

and after the controllers are tuned using the Closed-Loop PID Autotuner block. The speed

error curves are aligned in time to compare controller performances side-by-side.

scdfocasmPIDTuningPlotSpeed

8 PID Autotuning