Actuator Distance Extrapolation Control Under Clock Jitter
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Solution Overview
Problem
Existing control systems for actuators, such as those used in laser processing, face challenges in achieving precise control due to jitter in synchronization clocks, which affects the accuracy of distance extrapolation values.
Innovation Solution
A control device that includes a storage for distance command values, a second clock generator, a calculator for distance inclination, and a clock controller to manage the number of second clocks within a cycle, ensuring precise control by extrapolating distance values and adjusting for jitter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If distance extrapolation is performed using a high-frequency second clock, then measurement precision is improved, but jitter from the first clock affects calculation accuracy
Solution Approach 1:
The patent introduces a counter as an intermediary element that counts the number of second clocks generated within one cycle of the first clock. This counter value serves as a mediator between the high-frequency second clock and the distance extrapolation calculation, allowing the system to use the high-frequency clock for precision while compensating for jitter effects through the counted value. The distance extrapolation is performed using both the second clock timing and the counter value, thereby maintaining measurement precision while reducing the impact of first clock jitter.
2Measurement precision
If the number of second clocks per first clock cycle is unrestricted, then calculation resolution is improved, but control complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the counter value (representing the number of second clocks per first clock cycle) is fed back into the distance extrapolation calculation. This feedback allows the system to dynamically adjust the calculation based on actual clock timing variations. The clock controller uses this feedback to manage the second clock generation, ensuring that the calculation resolution is maintained while the complexity is managed through a systematic feedback control approach rather than ad-hoc adjustments.
3Reliability
If the first clock cycle is made longer to reduce jitter impact, then stability is improved, but productivity decreases
Solution Approach 1:
The patent transitions from a single-clock-dimension approach to a two-clock-dimension approach. The first clock provides the stable reference timing for control updates, while the second clock operates at a higher frequency to provide detailed measurement resolution. This dimensional change allows the system to maintain stability determined by the first clock cycle length while achieving high-speed measurement updates through the second clock, thereby resolving the contradiction between stability and productivity.
Data Source
AI summary
A control device for controlling an actuator includes a storage that obtains a new distance command value at a first clock timing and stores the new distance command value as a latest value and an immediately preceding latest value as a previous value, a first calculator that calculates a distance inclination based on the latest and previous values and a number of second clocks within one cycle of the first clock, a second calculator that calculates a distance extrapolated value at a second clock timing, a first command generator that outputs a first command corresponding to a target distance when the distance extrapolated value reaches the target distance, and a clock controller that stops output of the second clock until a next cycle of the first clock when the number of the second clocks within one cycle of the first clock reaches a setting value.