Acceleration-Based Disturbance Compensation for Positioning Control
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Solution Overview
Problem
Existing disturbance non-interference-enabling compensation devices are affected by mechanical characteristics and control delays, leading to complex configurations and high CPU calculation loads, as they compensate for disturbances based on operation amounts that include feedback compensation for frictional forces and control delays.
Innovation Solution
A two-degree-of-freedom control system with a feedback compensator, feedforward compensator, and disturbance non-interference-enabling compensator that uses second-order differentiation of the position command value to generate an acceleration command, which is then multiplied by gains to correct the operation amount, simplifying the compensation process and reducing the influence of mechanical characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If disturbance compensation is performed based on operation amount including feedback compensation, then positioning accuracy is improved, but device complexity and CPU calculation load increase
Solution Approach 1:
The patent extracts only the acceleration component from the operation amount by second-order differentiating the position command value, separating it from the feedback compensation components. This allows disturbance compensation to be performed using only the essential acceleration information, eliminating the need to process complex feedback compensation data while maintaining compensation effectiveness.
Solution Approach 2:
The control system is segmented into distinct functional blocks: position command input, second-order differentiator for acceleration extraction, gain multiplication for disturbance estimation, and compensation amount calculation. This modular segmentation simplifies the overall system architecture and reduces computational complexity compared to processing complete operation amounts.
2Manufacturing precision
If disturbance compensation is performed based on operation amount including feedback compensation, then positioning accuracy is improved, but CPU calculation load increases
Solution Approach 1:
The patent extracts only the acceleration component from the operation amount by second-order differentiating the position command value, separating it from the feedback compensation components. This allows disturbance compensation to be performed using only the essential acceleration information, eliminating the need to process complex feedback compensation data while maintaining compensation effectiveness.
Solution Approach 2:
The acceleration information is extracted in advance by second-order differentiating the position command value before disturbance compensation is performed. This preliminary extraction of essential information avoids the need for complex real-time processing of complete operation amounts, reducing CPU calculation load while maintaining compensation accuracy.
3Manufacturing precision
If operation amount including feedback compensation is used for disturbance compensation, then compensation effectiveness is improved, but mechanical characteristic influence increases
Solution Approach 1:
The patent extracts only the acceleration component from the operation amount by second-order differentiating the position command value, separating it from the feedback compensation components. This allows disturbance compensation to be performed using only the essential acceleration information, eliminating the need to process complex feedback compensation data while maintaining compensation effectiveness.
Data Source
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AI summary
In a positioning control device (31) for controlling multiple moving bodies (19, 20) individually accelerated and decelerated by multiple drive sources (23, 24) by a two-degree-of-freedom control system, respectively, a disturbance non-interference-enabling compensator (41, 42) for performing non-interference-enabling compensation of a disturbance with respect to an input of an feedback compensator and an operation amount of the moving body on the side affected by the disturbance is provided. Each disturbance non-interference-enabling compensator includes: a second differentiator configured to perform second-order differentiation of a position command value of a moving body on a disturbance generating side to output an acceleration command value; a first multiplier configured to multiply an acceleration command value output from the second differentiator by a first gain to output a correction amount for an input of an feedback compensator of the moving body on the side affected by the disturbance; and a second multiplier configured to multiply an acceleration command value output from the second differentiator by a second gain to output a correction amount for an operation amount of the moving body on the side affected by the disturbance.