Method and apparatus for tuning a motion control system having an external velocity loop
US5684374A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Jul 27, 1995 |
| Grant date | Nov 4, 1997 |
| Priority date | — |
| Expiry date | Jul 27, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42128
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and apparatus for tuning an external velocity loop servo drive of the type including a controller, a command device, an external velocity servo amplifier, an actuator and a position feedback device. The tuning technique include the use of three unidirectional motion events of descending duration. In the first motion event the controller applies a control signal of known amplitude to the actuator and monitors the actuator velocity based upon the position feedback signals. The controller determines the actuator steady state velocity during the motion event and uses this value to determine a scaling factor for the servo amplifier. In a second motion event, the controller drives the actuator in acceleration and deceleration in response to a control signal of known amplitude. Based upon the times at which the actuator reaches certain anticipated velocities, the controller determines system dynamic characteristics. In a third motion event the controller pulses the actuator for a short interval and monitors the actuator velocity to determine the rise time in response to a control signal of known amplitude. The rise time is used to determine the velocity loop bandwidth. The veloci…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.