Comparison of PID Controller Tuning Methods for Multi PMSM Angular Speed Synchronization

This paper discusses the comparison of the PID tuning method as multi PMSM system controller. The emphasis of this paper is to find a tuning method that has the best performance in speed synchronization, but other performances such as regulation, settling time and max overshoot are still considered. The PID tuning methods, Ziegler Nichols (ZN) and pole placement (PP) are simulated in two cases, namely by coupling constants (Kc) as variables and Kc included in the calculation of PID constants. The comparisons are done in MATLAB-Simulink® environment. The simulation results show that ZN with Kc included in the calculation has the best synchronization performance index (PI2), but has poor regulation performance index $(\mathrm{PI}_{1})$. On the contrary, PP with Kc included in the calculation has a PI2 that is not good but has the best PI1. In PP with Kc as a variable, it has intermediate PI1and PI2