Automatic tuning of motion controllers using search techniques
First Claim
1. A carrier medium which stores program instructions for automatically tuning a motion control system, wherein the program instructions are executable by a processor to perform:
- receiving a desired trajectory for the motion control system, wherein the desired trajectory is in one or more dimensions, wherein each dimension corresponds to an axis of the motion controller;
initializing values of one or more gains for a controller, wherein the one or more gains are comprised in a gain space;
receiving a response trajectory of the controller and motion control system in response to the desired trajectory;
determining an error between the response trajectory and the desired trajectory; and
experimentally searching the gain space to determine final values of the one or more gains for the controller, wherein the final values minimize the error between the response trajectory and the desired trajectory;
wherein after said experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined final values of the one or more gains.
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Abstract
System and method for user configuration of an autotuning algorithm for a controller in a motion control system. A desired trajectory in one or more dimensions for the motion control system is received. Values of one or more gains for a controller are initialized. A response trajectory of the controller and motion control system in response to the desired trajectory is received, and an error determined between the response trajectory and the desired trajectory. A gain space is then experimentally searched to determine final values of the one or more gains for the controller that minimize the error (e.g., Euclidean norm) between the response trajectory and the desired trajectory, e.g., via simulated annealing, or other stochastic, quasi-random, and/or deterministic approaches. After experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined values of the one or more gains.
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Citations
39 Claims
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1. A carrier medium which stores program instructions for automatically tuning a motion control system, wherein the program instructions are executable by a processor to perform:
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receiving a desired trajectory for the motion control system, wherein the desired trajectory is in one or more dimensions, wherein each dimension corresponds to an axis of the motion controller; initializing values of one or more gains for a controller, wherein the one or more gains are comprised in a gain space; receiving a response trajectory of the controller and motion control system in response to the desired trajectory; determining an error between the response trajectory and the desired trajectory; and experimentally searching the gain space to determine final values of the one or more gains for the controller, wherein the final values minimize the error between the response trajectory and the desired trajectory; wherein after said experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined final values of the one or more gains. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A computer-based system for automatically tuning a motion control system, the computer system comprising:
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a processor; a memory medium coupled to the processor, wherein the memory medium stores program instructions executable by the processor to; receive a desired trajectory for the motion control system, wherein the desired trajectory is in one or more dimensions; initialize values of one or more gains for a controller, wherein the one or more gains are comprised in a gain space; receive a response trajectory of the controller and motion control system in response to the desired trajectory; determine an error between the response trajectory and the desired trajectory; and experimentally search the gain space to determine final values of the one or more gains for the controller, wherein the final values minimize the error between the response trajectory and the desired trajectory; wherein after said experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined final values of the one or more gains. - View Dependent Claims (35, 36)
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37. A memory medium comprising program instructions for automatically tuning a motion control system, wherein the program instructions are computer-executable to perform:
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receiving a desired trajectory for the motion control system, wherein the desired trajectory is in one or more dimensions; initializing values of one or more gains for a controller, wherein the one or more gains are comprised in a gain space; receiving a response trajectory of the controller and motion control system in response to the desired trajectory; determining an error between the response trajectory and the desired trajectory; and experimentally searching the gain space to determine final values of the one or more gains for the controller, wherein the final values minimize the error between the response trajectory and the desired trajectory; wherein after said experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined final values of the one or more gains.
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38. A computer-implemented method for automatically tuning a controller coupled to a motion control system, the method comprising:
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a) initializing current values of one or more gains for the controller; b) providing an input signal to the controller and system, wherein the input signal specifies a position trajectory/motion profile for the motion control system in one or more dimensions; c) evaluating a current response of the system and controller to the input signal using the current values of the one or more gains, thereby computing a current value of a metric quantifying an error of the current response with respect to the input signal; d) determining new values of the one or more gains, wherein the new values are in a specified neighborhood of the current values; e) evaluating a new response of the system and controller to the input signal using the new values of the one or more gains, thereby generating a new value of the metric quantifying an error of the new response with respect to the input signal; f) if the new value of the metric and the current value of the metric indicate that the error of the new response is less than the error of the current response, setting the current values of the one or more gains to the new values; and setting the current value of the metric to the new value of the metric; and g) iteratively performing d) through f) until a stopping condition occurs; wherein, after said iteratively performing, the controller is operable to control the motion control system.
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39. A system for automatically tuning a motion control system, the system comprising:
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means for receiving a desired trajectory for the motion control system, wherein the desired trajectory is in one or more dimensions, wherein each dimension corresponds to an axis of the motion controller; means for initializing values of one or more gains for a controller, wherein the one or more gains are comprised in a gain space; means for receiving a response trajectory of the controller and motion control system in response to the desired trajectory; means for determining an error between the response trajectory and the desired trajectory; and means for experimentally searching the gain space to determine final values of the one or more gains for the controller, wherein the final values minimize the error between the response trajectory and the desired trajectory; wherein after said experimentally searching, the controller is operable to control the motion control system substantially in accordance with the desired trajectory using the determined final values of the one or more gains.
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Specification