Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2006.05a
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- Pages.271-272
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- 2006
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- 2005-8446(pISSN)
Development of Experimental Gain Tuning Technique for Multi-Axis Servo System
다축 서보 시스템의 Gain Tuning에 관한 연구
Abstract
This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was obtained. In turn, the integral gain of a servo controller can be found out by using the Integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.
Keywords
- Gain Tuning;
- Dynamic Signal Analyzer;
- Position Control Loop Tuning;
- Velocity Control Loop Tuning;
- Notch Filter Tuning