The control parameters for a PID controller regulating a linear servo system are based on the logarithmic frequency response. For that purpose, a functional is taken which includes a term representing the module curve slope with regard to the servoing open loop close by the zero crossing, a term representing the value of the phase curve close by the zero crossing and a term representing the quantity of the zero crossing. The functional is optimized in terms of control parameters, and the controller is set based on the obtained parameters.
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