Dynamic model based auto-tuning digital servo driver

This paper presents a new digital servo driver that realizes an auto-tuning function using a disturbance torque observer. By the auto-tuning function, a controller of the driver can obtain parameters for advanced controls. In the proposed driver, the controller is not a PI controller, but the model feedforward controller that is based on the dynamic equation of the plant. Then it is named a dynamic model based auto-tuning digital servo driver. The control parameters such as inertia constant, viscous coefficient, and constant disturbance torque, are automatically obtained by the orthogonal relation between torque components of the estimated disturbance torque. This auto-tuning algorithm is realized with a simple software for easy installation. The experimental results show that the auto-tuning digital servo driver can achieve good performances and that the driver is able to estimate all parameters accurately