Method and apparatus for tuning compensation parameters in a motion control system associated with a mechanical member

A computer readable medium comprising instructions capable of implementing a method for tuning compensation parameters in a motion control system associated with a mechanical member, the method comprising:

• a) receiving an indication of a compensation parameter to be tested;
• b) based on the compensation parameter to be tested, causing a signal associated with a desired motion of the mechanical member to be commanded;
• c) acquiring control data associated with the signal;
• d) acquiring measurement data associated with actual motion of the mechanical member in response to the signal;
• e) analyzing the control and measurement data;
• f) based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter;
• wherein the step of analyzing the data comprises the steps of:
• determining error from the data;
• associating the error with a parametric model;
• and
• extracting the value for the compensation parameter from the parametric model.

A machine tool, comprising:

• a) an actuator having an attached mechanical member;
• b) a motion command generator adapted to produce motion commands capable of controlling the actuator;
• c) a compensator adapted to compensate the motion commands based upon at least one compensation parameter;
• d) a controller in communication with the actuator, the motion command generator, and the compensator, and adapted to:
• i) receive an indication of a compensation parameter to be tested;
• ii) based on the compensation parameter to be tested, cause a signal associated with a desired motion of the mechanical member to be commanded;
• iii) acquire control data associated with the signal;
• iv) acquire measurement data associated with actual motion of the mechanical member in response to the signal;
• v) analyze the control and measurement data;
• vi) based on the step of analyzing the control and measurement data, implement a value of the compensation parameter;
• wherein the step of analyzing the data comprises the steps of:
• determining error from the data;
• associating the error with a parametric model;
• and
• extracting the value for the compensation parameter from the parametric model.