Motor-Driven Actuator Control for Spring-Like Load Absorption
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Solution Overview
Problem
Existing actuator configurations for controlling kinetic energy in mechanical and electrical systems are complex, requiring significant time and effort to tune control logic, and often result in low position accuracy and inadequate force control, especially when dealing with external loads.
Innovation Solution
A drive system utilizing an actuator driven by a motor, which mimics ideal spring behavior through controlled displacement and torque, allowing for easy configuration of control logic and simulation, and includes a selecting unit to switch between impact absorbing and elastic force generating operations based on predetermined conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If mechanical configurations (spring, rubber, damper, air cylinder) are used to attenuate kinetic energy, then force absorption capability is improved, but device complexity increases and position accuracy decreases
Solution Approach 1:
The patent replaces mechanical configurations (springs, rubber, dampers, air cylinders) with an actuator system that uses controlled displacement and torque generation to achieve force absorption. The actuator is driven by a motor and controlled by a controller that generates displacement instructions based on spring behavior characteristics, substituting passive mechanical elements with an active electromechanical system that provides both force absorption and position control capabilities.
2Measurement precision
If electrical configuration with control logic is used to control actuator, then force control precision is improved, but device complexity and tuning effort increase
Solution Approach 1:
The patent uses a physical model that copies spring behavior characteristics (displacement-force relationship) to control the actuator. Instead of implementing complex control logic that directly models the mechanical system, the controller generates displacement instructions that replicate ideal spring behavior, allowing the actuator to naturally absorb forces while maintaining simple control structure.
Solution Approach 2:
The actuator system absorbs forces and controls displacement through its own controlled movement without requiring external force sensors or complex feedback control loops. The system uses its displacement control capability to inherently manage force absorption, eliminating the need for additional sensing and complex control algorithms.
3Force
If mechanical configurations are designed for specific target loads, then force absorption performance is improved, but adaptability to different loads decreases
Solution Approach 1:
The patent implements a dynamic control system where the actuator's displacement instructions are continuously adjusted based on real-time conditions. The controller can adapt the spring behavior characteristics and displacement targets dynamically, allowing the system to handle varying loads and operational requirements without requiring physical redesign or retuning of mechanical parameters.
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
Facilitates easy creation of control logic and simulation, reduces complexity in designing mechanical systems, and enables precise load control by mimicking ideal spring behavior, minimizing deviations from preliminary designs and eliminating the need for external force sensors.
Implementation Method 1
mimics ideal spring behavior through controlled displacement and torque
Implementation Method 2
generating a load according to spring behavior
Data Source
Figure 1
Figure 2
Figure 3(A)~3(C)
AI summary
A drive system includes an actuator that is driven by a motor to generate displacement, a driver that drives the motor, and a controller that gives a control instruction to the driver. The controller includes: a model creation unit configured to create a physical model based on displacement caused by application of an external load to the actuator; a first instruction generating unit configured to generate a control instruction to the motor such that the actuator generates the displacement according to the physical model; a determination unit configured to determine a spring constant; a second instruction generating unit configured to generate a control instruction to the motor so as to generate drive force calculated based on a product of the spring constant and the displacement generated in the actuator; and a selecting unit configured to select and validate one of the control instructions of the first instruction generating unit and the second instruction generating unit.