Actuation Assembly Torque Control Using Identified Correction Coefficients
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Solution Overview
Problem
Existing actuation systems face imprecision in controlling output torque due to inaccurate electromagnetic constants of motors and uncertainties in current controllers, which are exacerbated in applications requiring high precision, such as teleoperation and master force amplification, leading to challenges in balancing and force control.
Innovation Solution
A method for controlling an electrical actuation assembly that includes establishing characteristic functions through interpolation of input and output forces to determine a control correction coefficient, accounting for uncertainties in the motor's magnetic constant and reducer efficiency, allowing precise torque control without separate calibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the electromagnetic constant provided by the motor manufacturer is used for control, then the control process is simple, but the precision of output torque control deteriorates
Solution Approach 1:
The patent changes the electromagnetic constant parameter from a fixed manufacturer-provided value to a dynamically determined value through identification procedures. The system performs identification runs to measure actual motor characteristics and calculates a corrected electromagnetic constant that reflects real-world conditions, thereby improving torque control precision without significantly increasing system complexity
Solution Approach 2:
The patent implements a feedback mechanism where the system measures actual motor performance during identification procedures and uses this information to adjust the electromagnetic constant. The identified characteristics are fed back into the control algorithm to compensate for discrepancies between theoretical and actual motor behavior, improving output torque precision
2Measurement precision
If separate calibrations of motor, reducer and current controller are performed, then the precision of each component is optimized, but the installation time and cost increase
Solution Approach 1:
The patent merges separate calibration procedures for the motor, reducer, and current controller into a single integrated identification procedure. The system performs a comprehensive identification that simultaneously characterizes all three components and their interactions, eliminating the need for multiple separate calibration steps while maintaining overall system precision
Solution Approach 2:
The patent creates a universal identification procedure that handles multiple calibration functions in one process. The identification algorithm simultaneously determines motor characteristics, reducer efficiency, and current controller accuracy, making the system multi-functional in terms of calibration capabilities without requiring separate procedures for each component
3Adaptability or versatility
If the electromagnetic constant varies with temperature and time, then the motor adapts to environmental conditions, but the control precision deteriorates
Solution Approach 1:
The patent performs preliminary identification procedures that characterize the motor's electromagnetic constant under various temperature and time conditions. By pre-determining how the constant varies with environmental factors, the system can compensate for these variations during normal operation, maintaining control precision while adapting to environmental changes
Solution Approach 2:
The patent transforms the electromagnetic constant from a fixed parameter to a variable parameter that changes with temperature and time based on identification data. The system uses the identified characteristics to adjust the constant dynamically, allowing environmental adaptation while maintaining control accuracy through compensation algorithms
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method enhances precision in actuator control by compensating for motor and reducer inaccuracies, enabling precise torque application and reducing installation time and costs by eliminating the need for separate calibrations.
Implementation Method 1
The current controller then applies a current of intensity equal to the current setpoint to the motor which generates a motor torque
Data Source
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AI summary
Method for controlling an electric actuation assembly (1), the method comprising the following steps: - applying a plurality of known first output forces and recording a plurality of first input currents for a first movement direction of the output; - establishing, by interpolation, a first characteristic function; - applying a plurality of second known output torques and recording (2) a plurality of second input currents for a second movement direction of the output opposite to the first direction; - establishing, by interpolation, a second characteristic function; - establishing, on the basis of the first characteristic function, the second characteristic function, a magnetic constant of the motor (11) and a reduction ratio of a gearbox (12), and a control correction coefficient; - controlling the actuation assembly (1) by applying the control correction coefficient.