Actuator Control Method Using Feedback-Updated Time Optimal Trajectory
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional actuator control methods, such as PID control, face instability and overshoot due to load fluctuations, and time optimal control lacks feedback mechanisms, making it difficult to accurately reach target positions without modifying the output pattern.
Innovation Solution
An actuator control method that incorporates feedback by calculating and updating the switching time and end time of acceleration and deceleration outputs using measured maximum acceleration and deceleration values, allowing for recalculation at preset intervals to adjust the control trajectory based on deviation and velocity, ensuring stable control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If PID control is used to ensure stability, then control stability is improved, but control speed deteriorates and overshoot occurs due to load fluctuation
Solution Approach 1:
The patent incorporates feedback elements into time optimal control by continuously calculating the deviation between target position and actual position, and updating control parameters (switching time t1 and end time t2) based on this feedback. This allows the system to maintain stability while achieving fast response, resolving the contradiction between stability and speed.
2Speed
If time optimal control is used to achieve fastest response, then control speed is improved, but control accuracy deteriorates due to lack of feedback mechanism
Solution Approach 1:
The patent adds feedback calculation to time optimal control by computing deviation X between target and actual position at each control period, and using this feedback to recalculate switching time t1 and end time t2. This modification enables the system to maintain both fast response and high accuracy by adapting the control trajectory based on actual system state.
3Stability of the object's composition
If sliding mode control is used to eliminate load fluctuation influence, then control stability is improved, but control complexity increases due to infinite switching speed requirement
Solution Approach 1:
The patent changes the control parameters (switching time t1 and end time t2) dynamically based on system state feedback, rather than requiring infinite switching speed. This parameter adaptation approach achieves stability under load fluctuation with practical, implementable control complexity.
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
Time optimal control is used and there are provided: a calculation step of calculating a switching time t1 at which an acceleration output is switched to a deceleration output and an end time t2 of the deceleration output expressed by time elapsed from a calculation time t0 at which calculation for control is performed using a maximum acceleration αp and a maximum deceleration αm, which are measured in advance, at the time of the maximum output of control force of an actuator; and a control output step of setting the control force of the actuator to a maximum acceleration output from the calculation time t0 to the switching time t1, setting the control force of the actuator to a maximum deceleration output from the switching time t1 to the end time t2, and ending the output of the control force at the end time t2, and there is also provided an update step of calculating and updating the switching time t1 and the end time t2 by repeating the calculation step at each preset time. Due to this, there are provided an actuator control method and an actuator control device that incorporate the element of feedback control in time optimal control.