Design and simulation analysis for an internal model controller of speed loop

This paper focuses on the problem of servo control for automatic adhesive crystal orientation instrument. A three-loop cascade control structure is proposed based on the vector control theory. According to the process requirements of the equipment, PI controllers are employed in a current loop and a position loop. For a speed loop, an internal model controller is designed based on the internal model control theory to solve load variation problems. Compared with a simulation test by the PID control, the one tested by the internal model controller shows excellent robustness and anti-interference ability, which is preferred in the variable load control of this system.