Influence analysis on the model comparison performance index for servo drive control

The paper deals with the proposed performance index of [1], which can assess command action performance of a servo drive in terms of the parameterization of the comparison model. By reversing a tuning rule, the comparison model can be parameterized without any a priori knowledge, with the drawback of low significance for some controller detuning directions. The performance index is examined further regarding practical online usage as in a running production process here. Signal sampling is considered in terms of sample time and quantization. Excitation independence as a basic goal for a performance index is also examined. For a more realistic picture the index is calculated with the monitored system operated under cascaded position control. The influence of position command signal sequences with different jerk and acceleration parameters are analyzed. In conclusion the limitations of the performance index are discussed and required future work is discussed.