Automatic tuning of motion controllers using search techniques

Details Automatic tuning of motion controllers using search techniques Automatic tuning of motion controllers using search techniques

2006-04-25

2006-04-25

Knight, Anthony (Department: 2121)

Data processing: generic control systems or specific application

Generic control system, apparatus or process

Sequential or selective

C700S063000, C700S061000, C700S188000, C700S181000, C700S086000, C700S013000, C700S169000

Reexamination Certificate

active

07035694

ABSTRACT:
System and method for user configuration of an autotuning algorithm for a controller in a motion control system. A desired trajectory in one or more dimensions for the motion control system is received. Values of one or more gains for a controller are initialized. A response trajectory of the controller and motion control system in response to the desired trajectory is received, and an error determined between the response trajectory and the desired trajectory. A gain space is then experimentally searched to determine final values of the one or more gains for the controller that minimize the error (e.g., Euclidean norm) between the response trajectory and the desired trajectory, e.g., via simulated annealing, or other stochastic, quasi-random, and/or deterministic approaches. After experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined values of the one or more gains.

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