Method and apparatus for improving the position accuracy of a servo motor
View Patent ↗A method of operating a motor controlled by a closed loop servo control system is provided. The closed loop servo control system employs a digital filter, such as a PID filter, that employs one or more gain coefficients. The method includes temporarily increasing one or more of the gain coefficients by a corresponding first predetermined amount when the motor reaches a coefficient boost motor position that is a predetermined distance before a commanded motor rest position, and decreasing the one or more of the gain coefficients by a corresponding second predetermined amount a predetermined time after the motor reaches the commanded motor rest position.
1. A method of operating a motor for driving a web handling mechanism structured to selectively move a web toward a blade of a web cutter, the motor being controlled by a closed loop servo control system employing a digital filter, the digital filter employing one or more gain coefficients, the method comprising:
increasing one or more of the gain coefficients by a corresponding first predetermined amount when the motor reaches a coefficient boost motor position, the coefficient boost motor position being a predetermined distance before a commanded motor rest position, wherein the commanded motor rest position corresponds to a position of the web handling mechanism at which the blade cuts the web; and
decreasing the one or more of the gain coefficients by a corresponding second predetermined amount a predetermined time after the motor reaches the commanded motor rest position.
2. The method according to claim 1 , wherein increasing comprises increasing the one or more of the gain coefficients from a corresponding original value to a corresponding boosted value, and wherein decreasing comprises returning the one or more of the gain coefficients to its corresponding original value.
3. The method according to claim 2 , wherein increasing comprises multiplying the one or more of the gain coefficients by a corresponding multiplier.
4. The method according to claim 3 , wherein the multiplier is 2.75, wherein the predetermined distance is 5 mm, and wherein the predetermined time is 4 ms.
5. The method according to claim 1 , wherein the digital filter comprises a PID filter, and wherein the one or more of the gain coefficients comprise a proportional gain coefficient and a derivative gain coefficient.
6. The method according to claim 1 , wherein the web handling mechanism comprises a primary tractor set.
7. The method according to claim 3 , wherein the digital filter comprises a PID filter, and wherein the one or more of the gain coefficients comprise a proportional gain coefficient and a derivative gain coefficient.
8. The method according to claim 7 , wherein the multiplier is 2.75, wherein the predetermined distance is 5 mm, and wherein the predetermined time is 4 ms.
9. A web cutter for cutting a web, comprising:
a blade for selectively cutting the web;
a web handling mechanism structured to selectively move the web toward the blade; and
a motor system for driving the web handling mechanism, the motor system including a motor and a closed loop servo control system controlling the motor, the closed loop servo control system employing a digital filter, the digital filter employing one or more gain coefficients, the closed loop servo control system being adapted to:
increase one or more of the gain coefficients by a corresponding first predetermined amount when the motor reaches a coefficient boost motor position, the coefficient boost motor position being a predetermined distance before a commanded motor rest position, wherein the commanded motor rest position corresponds to a position of the web handling mechanism at which the blade cuts the web; and
decrease the one or more of the gain coefficients by a corresponding second predetermined amount a predetermined time after the motor reaches the commanded motor rest position.
10. The web cutter according to claim 9 , wherein the closed loop servo control system is adapted to increase the one or more of the gain coefficients from a corresponding original value to a corresponding boosted value, and to decrease the one or more of the gain coefficients to its corresponding original value.
11. The web cutter according to claim 9 , wherein the closed loop servo control system is adapted to multiply the one or more of the gain coefficients by a corresponding multiplier.
12. The web cutter according to claim 11 , wherein the multiplier is 2.75, wherein the predetermined distance is 5 mm, and wherein the predetermined time is 4 ms.
13. The web cutter according to claim 9 , wherein the digital filter comprises a PID filter, and wherein the one or more of the gain coefficients comprise a proportional gain coefficient and a derivative gain coefficient.