| 摘要 |
A method and apparatus for tuning control loop parameters in a motion control system, is provided. In one embodiment, tuning of the proportional and integral gains of a servocontroller's velocity loop compensator is provided, as well as tuning of the cutoff frequencies of the servocontroller's low pass filters. In this embodiment, random noise excitation is added to the velocity command during a plurality of movement types for a machine tool axis. During each movement type, frequency response measurements are taken. Then, a composite frequency response can be selected by concatenating portions of the various frequency response measurements, so as to simulate a worst case scenario for the machine tool axis. From this composite response, an open loop response can be calculated and displayed, as well as bandwidth, phase margin, and gain margin values. The user can then enter the compensator parameters which were used when this data was taken, as well as proposed parameters. The system can automatically predict, or simulate, the effects of the proposed parameters on bandwidth, gain margin, and phase margin, based upon the composite data. Accordingly, the user need not actually try out the proposed parameters on the machine. Moreover, the simulated responses for the proposed parameters are based upon actual frequency response data taken during actual operating conditions of the system, and, accordingly, the inaccuracies of using mathematical assumptions are avoided.
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