Patent ID: 6658370
Filing Date: 2003-12-02
Classification: G05B

Abstract:
A method for adaptively retuning a closed-loop servo motor that is operating within normal limits, in order to automatically retune the servo motor and thereby improve performance of the servo motor, comprising the sequential steps of:(a) assigning a first active set of configurable tuning constants to the servo motor in order to operate the servo motor, (b) periodically measuring actual performance of the servo motor while the servo motor is operating within the normal limits, (c) determining if the actual performance of the servo motor differs from a servo motor specification performance by an amount representing a performance deficit that is outside a retuning threshold but within the normal limits for the servo motor, (d) maintaining the active set of configurable tuning constants if the performance deficit is within the retuning threshold, (e) deactivating the active set of configurable tuning constants and activating a replacement active set of configurable tuning constants for the servo motor if the performance deficit exceeds the retuning threshold but is within the normal limits, wherein all sets of configurable tuning constants are selected from a finite group of discrete predesigned sets of tuning constants, and wherein the replacement active set of configurable tuning constants is incrementally different from the active set which it replaced, (f) remeasuring actual performance of the servo motor, and (g) repeating steps (e) through (g) if the performance deficit remains outside the retuning threshold but within the normal limits.