Servo Parameter Tuning Using Interpolated Resonance Profiles
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Solution Overview
Problem
Existing servo parameter adjustment methods are inefficient and unstable due to variations in mechanical characteristics of target devices caused by changes in load position or operation conditions, leading to potential control instability.
Innovation Solution
A method for adjusting servo parameters by acquiring frequency characteristics under multiple conditions, interpolating a third frequency characteristic to generate a reference block, and adjusting parameters based on this block to account for variations in mechanical characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If servo parameters are adjusted based on frequency characteristics measured under a specific condition, then the control characteristic is optimized for that condition, but the control stability deteriorates when the target device deviates from that specific condition
Solution Approach 1:
The patent applies preliminary action by measuring frequency characteristics under multiple different conditions beforehand and storing them. This allows the system to have pre-acquired data for various operational states, enabling stable control even when conditions change. The frequency characteristics are measured in advance under different conditions (e.g., different load positions, temperatures) and stored for later reference during actual operation.
Solution Approach 2:
The patent applies parameter changes by selecting different frequency characteristic data based on the current operational condition. Instead of using a single fixed set of parameters, the system changes the reference frequency characteristics according to the actual condition (load position, temperature, etc.), thereby maintaining optimal control performance across varying operational states.
2Reliability
If frequency characteristics are measured for all control axes under all possible situations, then the control stability is improved, but the work efficiency deteriorates due to the time required for measurements
Solution Approach 1:
The patent applies universality by creating a frequency characteristic block that serves multiple purposes and covers multiple conditions simultaneously. Instead of measuring separately for each control axis and condition, the system acquires frequency characteristics under various conditions and combines them into a universal reference block that can be applied across different scenarios, reducing redundant measurements.
Solution Approach 2:
The patent applies preliminary action by performing comprehensive frequency characteristic measurements in advance under multiple conditions and storing the results. This preliminary data acquisition eliminates the need for repeated measurements during operation, significantly improving work efficiency while maintaining control stability through the use of pre-acquired multi-condition data.
Data Source
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AI summary
An adjustment method for a servo parameter includes a first step of acquiring, in a target device with the motor attached, a frequency characteristic of the motor under characteristic acquisition conditions related to the frequency characteristic of the motor and including at least a first condition and a second condition different from each other; a second step of interpolating, based on a first frequency characteristic corresponding to the first condition and a second frequency characteristic corresponding to the second condition, a third frequency characteristic which is a frequency characteristic corresponding to a predetermined section related to a resonance region; a third step of generating, based on the first frequency characteristic, the second frequency characteristic, and the third frequency characteristic, a frequency characteristic block serving as a reference for adjusting the servo parameter; and a fourth step of adjusting, based on the frequency characteristic block, the servo parameter.