Automatic adjustment method for cascade control system based on iterative setting of stability-margin criterion circle

摘要

Demand for servo motors has increased in recent years as rising factory automation. With the increase in demand, controller adjustment work before the start of the production line has also been growing.Accordingly, we propose a novel automatic adjustment method that enables us to optimize controller parameters and controller structure and to overcome the conservativeness of the circle condition in the cascade control system. Previously, the performance of the controller based on the circle condition could be conservative. Therefore, we solve this problem by setting a criterion circle designed by stability margin iteratively and adjusting controller parameters and controller structure until stability margin is close enough to design value. The effectiveness of the proposed method is verified by the experiment with the high precision positioning device.