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

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.