公开(公告)号：US12117803B2

公开(公告)日：2024-10-15

申请号：US17877823

申请日：2022-07-29

Applicant: DELTA ELECTRONICS, INC.

Inventor： Yen-Ming Lu ,  Chung-Hsin Cheng

IPC: B62D15/02 ,  G05B19/4155

CPC classification number: G05B19/4155 ,  G05B2219/41016

Abstract: A fast self-tuning method of gain applied to a servo actuator connected with a motor is disclosed and includes following steps: retrieving a current-feedback information of the motor to compute a torque estimated value; retrieving a position-feedback information of the motor to compute an acceleration estimated value; computing a system inertia based on the torque estimated value and the acceleration estimated value, wherein the system inertia indicates an inertia of the motor carrying a specific load; computing an estimated control gain for the servo actuator based on the system inertia; and, performing a self-tuning procedure by the servo actuator in accordance with the estimated control gain.