QUANTITATIVE DESIGN AND IMPLEMENTATION OF PI-D CONTROLLER WITH MODEL-FOLLOWING RESPONSE FOR MOTOR DRIVE

The authors present the quantitative design and implementation of a PI -D 2-degrees-of-freedom controller (2DOFC) for motor drives, The propo sed 2DOF controller consists of a PI-D feedback (also called the PI pl us rate feedback) controller and a command feedforward controller. A q uantitative design procedure is derived to find the parameters of a 2D OF controller systematically according to the given motor drive specif ications, In addition to the tracking and regulation speed control spe cifications, the effects of command change rate as well as control eff ort are also considered in the proposed design procedure, As the opera tion condition changes occur, a model-following controller (MFC) is ad ded to preserve the control specifications, The analysis and design of the proposed controller for the speed control of an induction motor d rive are described in detail, and some simulation and measured results are provided to show its performance.