Method and apparatus for tuning compensation parameters in a motion control system associated with a mechanical member
First Claim
1. A machine tool, comprising:
- a) an actuator having an attached mechanical member;
b) a motion command generator adapted to produce motion commands capable of controlling the actuator;
c) a compensator adapted to compensate the motion commands based upon at least one compensation parameter;
d) a controller in communication with the actuator, the motion command generator, and the compensator, and adapted to;
i) receive an indication of a compensation parameter to be tested;
ii) based on the compensation parameter to be tested, cause a signal associated with a desired motion of the mechanical member to be commanded;
iii) acquire control data associated with the signal;
iv) acquire measurement data associated with actual motion of the mechanical member in response to the signal;
v) analyze the control and measurement data;
vi) based on the step of analyzing the control and measurement data, implement a value of the compensation parameter;
wherein the controller is further adapted to provide a setup interface that enables a user of the machine tool to design a test capable of causing the signal to be commanded.
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Abstract
In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter.
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Citations
18 Claims
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1. A machine tool, comprising:
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a) an actuator having an attached mechanical member;
b) a motion command generator adapted to produce motion commands capable of controlling the actuator;
c) a compensator adapted to compensate the motion commands based upon at least one compensation parameter;
d) a controller in communication with the actuator, the motion command generator, and the compensator, and adapted to;
i) receive an indication of a compensation parameter to be tested;
ii) based on the compensation parameter to be tested, cause a signal associated with a desired motion of the mechanical member to be commanded;
iii) acquire control data associated with the signal;
iv) acquire measurement data associated with actual motion of the mechanical member in response to the signal;
v) analyze the control and measurement data;
vi) based on the step of analyzing the control and measurement data, implement a value of the compensation parameter;
wherein the controller is further adapted to provide a setup interface that enables a user of the machine tool to design a test capable of causing the signal to be commanded. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification