Servo actuator and fast self-tuning method of gain for using the same
AssigneeDelta Electronics, Inc.
InventorsYen-Ming Lu, Chung-Hsin Cheng
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Abstract
A fast self-tuning method of gain applied to a servo actuator connected with a motor is disclosed and includes following steps: retrieving a current-feedback information of the motor to compute a torque estimated value; retrieving a position-feedback information of the motor to compute an acceleration estimated value; computing a system inertia based on the torque estimated value and the acceleration estimated value, wherein the system inertia indicates an inertia of the motor carrying a specific load; computing an estimated control gain for the servo actuator based on the system inertia; and, performing a self-tuning procedure by the servo actuator in accordance with the estimated control gain.
Claims20
A fast self-tuning method of gain, used by an actuator connected with a motor, comprising:
- a) retrieving a current feedback signal of the motor and computing a torque estimated value based on the current feedback signal;
- b) retrieving a position feedback signal of the motor and computing an acceleration estimated value based on the position feedback signal;
- c) computing a system inertia in accordance with the torque estimated value and the acceleration estimated value, wherein the system inertia is an inertia of the motor carrying a load;
- d) computing an estimated control gain in accordance with a no-load inertia of the motor and the system inertia;
- and
- e) tuning the actuator by using the estimated control gain.
A servo actuator, electrically connected with a motor, wherein the motor carries a load, a controlled system is formed by the motor and the load, and the servo actuator comprising:
- a current detecting component, receiving an exciting current of the motor and generating a current feedback signal;
- a central processing unit (CPU), electrically connected with the current detecting component and the motor, and comprising:
- a torque estimating module, computing a torque estimated value based on the current feedback signal;
- an acceleration estimating module, receiving a position feedback signal of the motor and computing an acceleration estimated value based on the position feedback signal;
- a gain computing module, computing a system inertia correspondingly based on the torque estimated value and the acceleration estimated value, and computing an estimated control gain based on a no-load inertia of the motor and the system inertia, wherein the system inertia is an inertia of the motor carrying the load;
- and
- a controlling module, tuning the servo actuator based on the estimated control gain;
- and
- a storage, connected with the CPU, recording a data array including the torque estimated value and the acceleration estimated value, and the CPU is configured to read the data array to obtain the torque estimated value and the acceleration estimated value.
Dependencies are inferred from the claim text.