Dynamic model based auto-tuning digital servo driver

This paper presents a new digital servo driver which realizes an auto-tuning function using the disturbance torque observer. By the auto-tuning function, the host controller of the driver can obtain parameters for advanced controls (such as predictive control, etc.). The control parameters such as the inertia constant, the viscous coefficient and the constant disturbance torque, are automatically obtained by the orthogonal relation between the torque components of the estimated disturbance torque. The proposed auto-tuning algorithm is realized with a simple software. The experimental results show that the dynamic model based auto-tuning digital servo driver can achieve good performances and that the driver is able to estimate all parameters accurately