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Controller commissioning based on a new identification method of parametric models for cascaded servo drive systems

: Hofmann, Stefan; Hellmich, Arvid; Schlegel, Holger; Drossel, Welf-Guntram

TU Chemnitz:
Matar 2012, 9th International Conference on Machine Tools, Automation, Robotics and Technology. CD-ROM : 12 - 14 September 2012, Prague, Czech Republic
Prague, 2012 (MM Science Journal 2012, Special Issue)
6 S.
International Conference on Machine Tools, Automation, Robotics and Technology (MATAR) <9, 2012, Prague>
Konferenzbeitrag, Zeitschriftenaufsatz
Fraunhofer IWU ()
identification; parametric model; controller design; motion control; servo drive

Today, the standard in industrial motion controllers comprises a cascaded system of position, velocity and current loop. Each controller has to be designed according to its subordinated system behavior. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto-relay-feedback-experiment by Åström/Hägglund and a modified technique of gradual pole compensation. In addition to a theoretical description, the implementation as an automatic application in the motion control system SIEMENS AG SIMOTION® is shown. Finally, the identification results as well as the achievable controller performance on a test rig will be presented.