Method and circuit arrangement for automatically parameterizing a quick-acting digital speed control loop
AssigneeDr. Johannes Heidenhain GmbH
InventorNorbert Kerner
Life of this patent
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Abstract
A filter module inserted into a speed control loop to shorten the rise time of the loop. The filter parameters of the filters provided in the filter module and the controller parameters are calculated in such a way that instances of resonant rise. The amplification factors for the proportional controller branch and the integral controller branch are increased, which leads to a shorter rise time.
Claims10
A method for automatically parameterizing a quick-acting digital speed control loop in electro-drives of machine tools and robots that have a controller including branches with separately determined controller parameters and one or more filters, comprising:
- determining an optimal value for at least one controller parameter associated with at least one branch of the controller with the aid of a specialized valuation function;
- increasing the value of the controller parameter to produce vibrations in the control loop, the vibrations being associated with at least one resonant frequency;
- determining at least one resonant frequency of the control loop;
- calculating a damping factor for at least one filter, the damping factor being associated with the resonant frequency and equal to an actual rise time divided by the desired rise time;
- and
- modifying the value of the controller parameter in accordance with the damping factor.
A method for automatically parameterizing a speed control loop in a controller having branches with different controller characteristics and one or more filters, comprising:
- determining an optimal value for at least one controller parameter associated with at least one branch of the controller;
- modifying the value of the controller parameter to produce vibrations in the control loop, the vibrations being associated with at least one resonant frequency;
- determining at least one resonant frequency of the control loop;
- determining at least one filter parameter associated with at least one of the filters, the filter parameter damping the resonant frequency in accordance with a desired rise time;
- and
- modifying the value of the controller parameter in accordance with the filter parameter.
Dependencies are inferred from the claim text.