Auto-tuning of two-degree-of-freedom motor control for high-accuracy trajectory motion

Abstract This paper presents a high-accuracy trajectory-control method, and its auto-tuning for mechanical systems, based on two-degree-of-freedom control theory. This control method is useful because its controller consists of a conventional PID feedback compensator and a simple feedforward compensator. The proposed auto-tuning method determines the control parameters in both the feedforward and the feedback compensators using the identified parameters such as load inertia, a viscous coefficient and Coulomb friction. Furthermore, this paper proposes the new algorithm for automatically determining a maximum allowable velocity, with which the mechanical system is able to be driven with accuracy.