Electricity: motive power systems – Positional servo systems – With stabilizing features
Patent
1995-07-27
1997-11-04
Cabeca, John W.
Electricity: motive power systems
Positional servo systems
With stabilizing features
318609, 388809, G05B 1300
Patent
active
056843747
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 velocity loop bandwidth is then used to tune the position loop gains to appropriate levels.
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Allen-Bradley Company Inc.
Cabeca John W.
Horn John J.
Miller John M.
Yoder Patrick S.
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