METHOD FOR TUNING AUTOMATICALLY CONTROL GAIN FOR SERVO MOTOR ACTUATING SYSTEM

摘要

PURPOSE: A method for automatically tuning a control gain of a servo motor driving system is provided to have constant speed control response characteristics regardless of a load by tuning the control gain of the servo motor driving system. CONSTITUTION: A servo motor driving system is converted into a torque control mode(S10). A test driving torque command is generated(S20). A servo motor is tested by the test driving torque command(S30). An inertial coefficient and a viscosity coefficient of the servo motor are estimated(S40). [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S10) Conversion into a torque control mode; (S20) Generating a test driving torque command; (S30) Starting a test driving; (S40) Estimating inertial coefficient and viscosity coefficient of servo motor; (S50) Is test driving end condition satisfied?; (S60) Test driving end; (S70) Adjusting control gain of servo motor drive system speed controller using estimated coefficient; (S80) Adjusting control gain of servo motor drive system speed controller using estimated coefficient