Trimning av lead och lag filter
FilterAdjustmentOptimizationCriteriaSensitivity functionFilterTrimningOptimeringKriterierKänslighetsfunktion
The work describes the development of an adjustment algorithm that will replace today?s manual adjustment of Lead- and Lag-filters at ABB Robotics industrial robots. The adjustment is mainly for the filter parameters in the control system.Three different algorithms have been created to replace the manual adjustment. One of them is based on the criterion from the manual adjustment and another one on optimization of the sensitivity function. The last one is a combination of the two.The report describe the development of the algorithms and how they behave during simulations and tests on real robots. All three algorithms are several times faster then todays adjustment and present equivalent results at the same time.