US 12,455,544 B2
Method and device for tuning stiffness of servo system and servo system
Ming Yang, Harbin (CN); Yangyang Chen, Harbin (CN); and Dianguo Xu, Harbin (CN)
Assigned to HARBIN INSTITUTE OF TECHNOLOGY, Harbin (CN)
Filed by HARBIN INSTITUTE OF TECHNOLOGY, Harbin (CN)
Filed on Aug. 12, 2022, as Appl. No. 17/886,798.
Claims priority of application No. 202110957455.2 (CN), filed on Aug. 18, 2021.
Prior Publication US 2023/0059542 A1, Feb. 23, 2023
Int. Cl. G05B 17/02 (2006.01)
CPC G05B 17/02 (2013.01) 9 Claims
OG exemplary drawing
 
1. A method for tuning stiffness of a servo system, comprising:
reconstructing a characteristic signal of a servo system;
calculating a vibration characteristic covariance coefficient of the servo system according to the characteristic signal; and
tuning the stiffness of the servo system according to the calculated vibration characteristic covariance coefficient;
wherein the vibration characteristic covariance coefficient PIIR(n) of the servo system is calculated according to the following formula:
PIIR(n)=(1−KIIR(n)Φ(n))PIIR(n−1)/μIIR
wherein PIIR(n) is a vibration characteristic covariance coefficient of the servo system in the nth discrete cycle, Φ(n) is a search gradient function for a vibration characteristic frequency of the servo system in the nth discrete cycle, KIIR(n) is a recursive gain of the servo system in the nth discrete cycle, n represents the nth discrete cycle, n is an integer greater than or equal to 1, and μIIR is a forgetting factor, and
wherein KIIR(n) and Φ(n) are determined according to the characteristic signal.