Build Better Machines Through Optimized Motion Control 2002-01-1344
Machine designers can build better machines if they focus on tuning their motion controller for optimal performance. This paper discusses several proven techniques for motion system tuning and performance optimization, with examples drawn from real applications. Specific topics to be covered include guidelines for optimizing hydraulic vs pneumatic systems, techniques for using graphical development tools to provide feedback for the tuning process, suggestions regarding choosing system architectures that provide support for smoother, more precise control (e.g. setting up systems to control via both position and pressure information), and guidelines for selecting the best control algorithms (e.g., optimizing the use of P, I, D, and feedforward functions, use of special functions such as splines) to optimize motion.