Actuator Control Gain Adaptation for Vibration Suppression
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Solution Overview
Problem
Agricultural working machines face challenges in accurately adjusting adjustable elements due to mechanical vibrations caused by actuator excitation torques and forces, leading to suboptimal control behavior and reduced harvesting performance, as existing solutions require manual or empirical adjustments of control parameters which are not adaptive to changing conditions.
Innovation Solution
An arrangement that includes a controller and a determination device to optimize actuator control parameters based on detected vibration properties, using a virtual mathematical model and iterative or recursive methods to adjust parameters such as overshoot, damping, and rise time, ensuring improved control behavior and system performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If proportional control is used to adjust the actuator position, then the response speed to target position changes is improved, but mechanical vibrations are excited that reduce positioning accuracy
Solution Approach 1:
The control gain is changed from a static manual setting to a dynamic value that automatically adapts to current system conditions. The determination device continuously monitors system parameters and adjusts the control gain in real-time, allowing the system to achieve both fast response and high precision under varying operating conditions.
Solution Approach 2:
The control parameter (control gain) is automatically adjusted based on detected system properties. By changing the control gain parameter dynamically rather than keeping it fixed, the system optimizes the balance between response speed and vibration suppression for current operating conditions.
2Device complexity
If manual adjustment of control parameters is performed, then the system complexity is reduced, but the adaptability to changing conditions deteriorates
Solution Approach 1:
The control system performs self-adjustment through the determination device that automatically detects system properties and computes optimal control parameters. This self-service capability eliminates the need for manual intervention while providing continuous adaptation to changing operating conditions.
Solution Approach 2:
The system uses feedback from sensor measurements to automatically adjust control parameters. The determination device receives feedback about system state and uses this information to compute and apply appropriate control gain values, enabling continuous adaptation without increasing operational complexity.
3Ease of operation
If robust control settings are made once for the whole day, then the ease of operation is improved, but the productivity deteriorates due to loss of performance
Solution Approach 1:
The control parameter optimization is performed continuously throughout operation rather than being a one-time setup. The determination device operates continuously to maintain optimal control settings, ensuring that harvesting performance remains high throughout the entire working day without requiring repeated manual adjustments.
Data Source
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AI summary
An arrangement for controlling an actuator (48) for adjusting an adjustable element (16) of an agricultural machine (10) is equipped with a control unit (50) for generating control signals for the adjustable element (16) to move it to a target position, a control arrangement (62) of the actuator (48) coupled to the adjustable element (16) that receives the control signals from the control unit (50), and a determination device (54) for providing at least one parameter (ϑ) determined based on detected vibration characteristics of the system consisting of the adjustable element (16) and the agricultural machine (10). The determination device (54) is capable of determining the at least one parameter (ϑ) at successive time points and supplying it to the control unit (50). The parameter (ϑ) acts to optimize the control behavior of the control unit (50).