Method and apparatus for tuning a motion control system

摘要

A tuning method and apparatus are provided for tuning gain values in a motion control system. The system is of the type including an input device for generating position command signals, an actuator for displacing a physical element to a desired location in response to control signals, a sensor for generating feedback signals representative of the position of the physical element and a controller coupled to the input device, the sensor and the actuator for processing the command and feedback signals and generating control signals for driving the actuator in response to the command and feedback signals. The controller multiples at least one parameter error signal derived from the command and feedback signals by a gain value to generate the control signals. The technique includes the steps of accelerating and decelerating the actuator and monitoring the feedback signals during the acceleration and deceleration phases of motion. Based upon the control signals used to drive the actuator, the acceleration and deceleration times, and characteristics of the control system, a position bandwidth signal is generated and key gain values are generated based upon the bandwidth signal. The single motion event used for tuning is unidirectional and requires only a minimal displacement of the actuator.