Commissioning rules for optimal velocity controller damping of servo axes using elimination methods

摘要

We present a new and algebraic approach to the optimal damping of servo axes during commissioning. The approach is based on control of root loci of the denominator of the transfer function using algebraic elimination. The results are either explicit formulas for simple systems or descriptions of the optima via roots of univariate polynomials. The power of the result is demonstrated in examples.