CPC G05B 13/042 (2013.01) [G05B 6/02 (2013.01)] | 8 Claims |
1. A method, implemented by a computer, for adjusting control parameters for a control device including a feedback unit and a predetermined control structure, the feedback unit including one or more controllers to receive an input of a feedback signal for servo control on a control target as feedback, the predetermined control structure being configured to perform speed feed-forward control in the feedback unit, the computer comprising an upper-limit-feedback-gain-calculator, a feed-forward-gain-setter, and a feedback-gain-adjuster,
the method comprising:
calculating, by the upper-limit-feedback-gain-calculator, an upper limit of a feedback gain of the feedback signal within a range in which a predetermined index for the feedback gain satisfies a predetermined target value with a speed feed-forward gain for the speed feed-forward control set at a predetermined reference value;
setting, by the feed-forward-gain-setter, the feedback gain at an adjustment initial value lower than the upper limit, and setting, by the feed-forward-gain-setter, at least the speed feed-forward gain at a predetermined increased value higher than the predetermined reference value; and
increasing, by the feedback-gain-adjuster, the feedback gain from the adjustment initial value within a range in which the feedback gain does not exceed the upper limit with the speed feed-forward gain set at the predetermined increased value.
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