Patent ID: 6961628
Filing Date: 2005-11-01
Classification: G05B

Abstract:
1. A computer-implemented method for automatically tuning a feedforward compensation parameter in a motion control system, the method comprising: a) determining an initial value of the feedforward compensation parameter; b) commanding an initial movement of an actuator according to a test motion routine, wherein the initial value of the parameter is used in the control of the actuator; c) determining error associated with the initial movement; d) determining a potential value of the feedforward compensation parameter; e) commanding a movement of the actuator according to the test motion routine, wherein the potential value of the parameter is used in the control of the actuator; f) determining error associated with the movement commanded in act e); g) comparing the errors associated with the movements; h) based on the act of comparing the errors, selecting one of the values as a current best value; and i) repeating acts d)-h) until the current best value is an optimum value, wherein the act of comparing the errors associated with the movements comprises comparing the errors associated with at least two of the movements; wherein the feedforward compensation parameter comprises at least one parameter selected from the group consisting of an acceleration feedforward gain, a Coulomb friction feedforward gain, a viscous friction feedforward gain and a constant offset feedforward gain.