Actuator Control Device Angular Velocity Correction
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Solution Overview
Problem
Conventional actuator control systems face issues with accurately calculating the target relative angle when the rotating portion rotates 360 degrees or more, leading to incorrect operation directions due to sensor output discontinuity at reference positions, causing actuators to operate oppositely to the intended direction.
Innovation Solution
An actuator control device and method that calculate the target relative angle, detect the sensor detection angle, correct angular velocity within specific thresholds, and integrate corrected velocities to accurately control the actuator, ensuring continuous and correct feedback control even when the sensor output crosses reference positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensor output is used to detect rotation angle, then the sensor structure is simple, but the measurement precision deteriorates when rotation exceeds 360 degrees due to output discontinuity at reference positions
Solution Approach 1:
The patent applies dynamics by making the control calculation method adaptive to different rotation scenarios. The control calculation unit dynamically determines whether to perform correction processing based on the detected rotation angle and sensor output characteristics, allowing the system to handle both single rotations (0-360 degrees) and multi rotations (>360 degrees) with appropriate calculation strategies, thereby improving measurement precision without excessive complexity
Solution Approach 2:
The patent changes the parameter of control calculation by introducing correction processing that modifies how sensor outputs are interpreted. When the rotation angle exceeds 360 degrees, the system applies parameter transformation to correct the sensor output discontinuity at reference positions, enabling accurate measurement of multi rotations while maintaining simple sensor hardware
2Adaptability or versatility
If the rotating portion rotates 360 degrees or more, then the actuator can achieve larger rotation ranges, but the reliability deteriorates due to incorrect operation directions caused by sensor output discontinuity
Solution Approach 1:
The patent implements feedback by continuously monitoring the sensor output and rotation angle, then using this information to correct control calculations. The control calculation unit receives feedback from the sensor about reference position crossings and adjusts the control commands accordingly, ensuring the actuator maintains correct operation direction even when rotating 360 degrees or more
Solution Approach 2:
The patent replaces mechanical solutions (such as mechanical encoders or multiple sensors) with an electronic/software-based correction approach. By substituting the mechanical complexity with computational correction of sensor outputs, the system achieves reliable multi rotation control while maintaining simple hardware and improving adaptability
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
The solution enables accurate and continuous feedback control of actuators, preventing incorrect operation directions by correcting angular velocity and maintaining precise control across 360-degree rotations, ensuring the actuator operates as intended.
Implementation Method 1
The conceivable sensor detects the angle of a rotating portion, and includes a magnet that rotates with the rotating portion and a Hall IC provided on the outside of the magnet.
Data Source
AI summary
An actuator control device that controls an actuator according to an angle of a rotating portion includes a processor configured to: calculate a target relative angle from a rotation start angle to a target angle; detect a sensor detection angle from a sensor; calculate an angular velocity of the rotating portion based on a change amount of the sensor detection angle in a predetermined calculation cycle; correct the angular velocity to be closer to a normal angular velocity when the angular velocity is greater than or equal to a first threshold or less than or equal to a second threshold; calculate an actual relative angle by integrating the angular velocity and a corrected angular velocity; and feedback-control the actuator according to a deviation between a target relative angle and the actual relative angle.