Actuator Control via Dynamic Distance-Based Velocity Adjustment
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Solution Overview
Problem
Existing methods for controlling actuator movements, such as in palletizers and robots, require lengthy commissioning times and are inflexible, often necessitating pre-defined switchover points and setpoint values, which hinder dynamic adjustments and increase the risk of collisions.
Innovation Solution
A method that controls actuator movement based on the distance to a target position, allowing for real-time adjustments of speed and target specifications, eliminating the need for fixed switching points and enabling reaction to changing circumstances, such as increased speeds or coordinated axis movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If fixed switchover points and setpoint values are used for controlling actuator movement, then the control system is simple and reliable, but the commissioning time is long and the system is inflexible to changes
Solution Approach 1:
The patent applies dynamics by transitioning from fixed, pre-defined switchover points to dynamic calculation of speed profiles based on real-time distance to target. The control system continuously adapts the speed setpoint according to the actuator's current position and the remaining distance, enabling flexible response to changing conditions without requiring re-commissioning when parameters change.
Solution Approach 2:
The invention changes the control parameter from fixed positional switchover points to a dynamic speed profile determined by distance to target. This parameter transformation allows the system to automatically adapt to different operating conditions and speed requirements without manual reconfiguration, significantly reducing commissioning time while maintaining control precision.
2Adaptability or versatility
If pre-defined switchover points are used for speed control, then the control logic is simple, but the system cannot react to changed circumstances such as increased speeds or moving targets
Solution Approach 1:
The patent implements feedback by continuously monitoring the actuator's current position and calculating the remaining distance to target. This feedback loop enables the control system to dynamically adjust the speed setpoint in each control cycle, allowing reaction to changed circumstances such as moving targets or speed changes while maintaining relatively simple control logic through standardized distance-based calculations.
3Reliability
If fixed speed profiles are used for actuator control, then the control system is stable and predictable, but collision risks increase when unexpected situations occur
Solution Approach 1:
The patent enhances reliability by making the speed profile dynamic rather than fixed. The control system continuously calculates the appropriate speed based on the remaining distance to target, enabling automatic adaptation to unexpected situations such as moving targets or obstacles. This dynamic approach maintains operational efficiency while preventing collisions, as the actuator can slow down or stop naturally based on real-time conditions without requiring emergency stops.
Data Source
AI summary
A method for controlling the movement of an actuator comprises the steps: moving the actuator with a current velocity over a current position during a time unit, calculating the remaining distance (12) between the current position of the actuator and a target position (14), and moving the actuator during the next time unit with a modified velocity, wherein the modified velocity is determined as dependent on the remaining distance (12).