Basic task Autotuning

Servo drives are commonly used for precise and dynamic positioning tasks in automation technology. The properties of the mechanics to be moved by the drives have a significant influence on the parameterization of the control loops, which is necessary to achieve the best possible positioning tasks in terms of accuracy and dynamics while maintaining system stability. Essential mechanical properties include mass inertia and system resonances. The exact properties of the mechanical systems are usually unknown at the time of commissioning.

The basic tasks of autotuning include the following

• Metrological determination of the essential parameters of the mechanical system.
• This is achieved by recording the frequency response in terms of magnitude and phase (Bode plot).
• An internal algorithm determines the properties of the mechanical system based on the frequency response. (inertia, resonance points, etc.)
• Determination of sensible control parameters, taking into account the system characteristics and the given boundary conditions with regard to dynamics and system stability.
• Set and parameterize filters, for example to suppress resonance points. The properties of the control system in terms of dynamics and stability can be further improved by using filters.