Comparison of Auto Tuning Algorithmsfor the Velocity Loop of Servo Drives

摘要

Since mechanical resonances are most influential in servo applications, the most challenging task inrntuning servo drives is finding the optimal parameters for the velocity loop and connected filters. It isrndesired to provide an Auto Tuning algorithm that can assist the user to tune the controller or completelyrntune the velocity control loop by itself, thus reducing set-up time and cost. Various Auto Tuningrnalgorithms for the velocity loop have been proposed. This paper compares mainly two different approachesrnwith respect to performance and usability, putting the main focus on step-response based,rntime domain iterative algorithms and iterative algorithms in the frequency domain.