A holistic controller parameters design and optimization method for servomechanism

Servomechanisms in industry are complicated mechatronic systems. To acquire the desired performances of servomechanism, a holistic controller parameters design and optimization method is proposed by this paper. An accurate servomechanism model is established and the servomechanism performance analyses are investigated. Then, according to the operating requirements of servomechanism, design constraints for controller parameters are developed. Moreover, the instability problem induced by great variations of modeling elements is also considered and the robust stability is proposed to solve this problem. The nonlinear objective design is adopted to obtain the designed controller parameters. To counteract modeling errors and uncertainties, it is indispensable for the online optimization of controller parameters and a critical robust stability space is generated to ensure optimizing controller parameters online successfully. To validate the effectiveness and feasibility of this proposed method, an open servomechanism platform was set up. The experimental and simulated results show that the tracking error, peak error and performance indicators were reduced significantly with the optimized controller parameters under different working conditions and the desired performances can be obtained. Moreover, this method overcomes the drawbacks of conventional controller parameters optimization methods, and can satisfy different operating requirements.