Identification of Parametric Models for Commissioning Servo Drives

Modern production machines contain up to 100 position controlled servo drives. The setting-up operation of these servo drives is a time-consuming and cost-intensive process. The paper presents a new method, which supports the user by justifying the position controller automatically. Based on the auto relay feedback experiment by Astrom and Hagglund, the introduced technique is applied to identify a parametric model of the position controlled system by means of gradual pole compensation. Therefor, a mechanism has been developed, which automatically adjusts the model parameters according to the time behaviour of the controlled system. The presented algorithm has successfully been implemented in the motion control system SIMOTION. In addition, it has been evaluated concerning the achievable identification accuracy. Furthermore, examples for the identification procedure and the parametrization of the position controller are given.