PI controllers are the most commonly used types of controllers to control the speed of the electric drives. Alternatively, different disturbance observer based solutions may be used. One of possible modifications, the predictive disturbance observer based filtered PI control structures (denoted as PDO-FPI) may be characterized by lower ripple of the control signal and no need to deal with anti-windup. To compare the traditional and new solutions, the authors have designed and implemented a MATLAB interactive simulation tool for verifying properties of such drive control loops. The control loops with/without a disturbance observer are implemented in the model. The tool provides parameter tuning of the speed controllers, simulations of the control loop, display of the state variables and computed values (i.e. IAE, relative total variance of the input and output values) and comparing performance of various controllers. The paper provides a description of the implemented control structures, the ways of computation of the controller parameters, a description of the model and the results of a simulation.
Belai, I., Bisták, P., & Huba, M. (2015). Matlab Based Interactive Model of a Speed Servo Drive. IFAC-PapersOnLine, 48(29), 235–240. https://doi.org/10.1016/j.ifacol.2015.11.242