Servo Control Tuning Using Delay Margin and Stability Indicators
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Solution Overview
Problem
Existing methods for adjusting servo-controls in mechatronic systems require significant preparatory work and expertise, especially in defining parameters like the target delay margin (MRC) to achieve optimal performance and robustness, which is time-consuming and costly in industrial contexts.
Innovation Solution
An automated method that iteratively determines the optimal corrector parameters by testing different MRC delay margins and evaluating effective static and dynamic margins, allowing for the selection of the most robust and performant corrector without the need for extensive technician expertise.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual adjustment of corrector parameters is performed to achieve optimal performance and robustness, then the servo-control system achieves high performance, but significant preparatory work and technician expertise are required
Solution Approach 1:
The system automatically determines corrector parameters by injecting test signals, measuring frequency responses, and computing optimal values without human intervention. The computer executes the method steps autonomously, from injecting the test signal at step 102 through calculating final parameters at step 108, eliminating the need for technician expertise in defining MRC and MMC parameters.
Solution Approach 2:
The system transforms complex control parameters (MRC, MMC) into automated computational parameters. By changing from manual parameter specification to automated frequency-response-based calculation, the system simplifies the adjustment process while maintaining robustness through scientifically-derived parameter values.
2Reliability
If manual adjustment of corrector parameters is performed to achieve optimal performance and robustness, then the servo-control system achieves high performance, but significant preparation time is required
Solution Approach 1:
The system performs preliminary automated measurements by injecting test signals and capturing frequency responses before final corrector configuration. This preliminary data collection (steps 102-106) eliminates the need for time-consuming manual trial-and-adjustment processes, as all necessary system characteristics are pre-measured and stored for automated calculation.
Solution Approach 2:
The system replaces manual mechanical adjustment processes with automated electronic measurement and computation. The computer executes signal injection, data acquisition, and parameter calculation, substituting the mechanical/manual adjustment process with an automated electronic system that operates faster and more consistently.
3Productivity
If automated method is used to determine corrector parameters, then preparation time and expertise requirements are reduced, but the system must implement complex measurement and calculation procedures
Solution Approach 1:
The system merges multiple functions into a single automated computer-based platform: test signal generation, frequency response measurement, data storage, optimal parameter calculation, and corrector configuration. By combining these previously separate manual operations into one integrated automated system, the measurement procedure complexity is consolidated into a single device rather than distributed across multiple manual steps.
Solution Approach 2:
The system introduces a computer as an intermediary between the physical mechatronic system and the corrector adjustment process. This intermediary handles all complex measurement and calculation procedures, acting as a mediator that translates physical system responses into optimized control parameters without requiring direct human involvement in the complex computational steps.
Data Source
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AI summary
The invention relates to a method for automated optimisation of a servo control system of a real mechatronic system G controlled by a setpoint Yc(t), said servo control system comprising a corrector C in a feedback loop, the corrector being defined by correction parameters, the system G is modelled and corrections and their correction parameters are determined, the method exhibiting satisfactory reliability and performance in terms of stability. According to the invention, through an iterative procedure, the most effective corrector, called optimal corrector, is determined from among the correctors, by developing a current value of the delay margin (MRC) and by individually testing the correctors on the servo control system of the real mechatronic system and by injecting an excitation signal w(t) into the loop and by assessing two effective indicators based on at least one effective static margin M st and one effective dynamic margin M dy n , the two effective indicators being an effective static indicator Inds, which is the effective static margin M s t and an effective dynamic indicator Ind D , which is a direct function of the effective dynamic margin M dyn , the iterative procedure being stopped on a corrector, which is then the optimal corrector, when the two effective indicators lnd s and Ind D become greater than respective thresholds S s and S D determined for a current delay margin value that is as low as possible and therefore for the greatest performance.