Delta Electronics, Inc.

Chung-Hsin Cheng

Yen-Ming Lu

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.

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Taoyuan, Taiwan

Chung-Hsin Cheng