Common Control Gain Tuning for Multi-Axis Synchronous Trajectory Control
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Solution Overview
Problem
In synchronous control of multiple control shafts, deviations in followability lead to actual trajectories deviating from target trajectories, especially when switching between rectilinear and arc movements, making it difficult to maintain accuracy and correct position commands effectively.
Innovation Solution
A processing device is electrically connected to a drive controller, which includes a feedback system and a control model part, allowing for model follow-up control. It determines a common control gain for all control model parts to ensure uniform responsiveness, thereby aligning the actual trajectory with the target trajectory during synchronous control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If model follow-up control is applied to each control shaft independently, then trajectory followability of individual shafts is improved, but actual trajectory deviates from target trajectory due to followability differences between shafts
Solution Approach 1:
The patent applies equipotentiality by equalizing the control gains of all control shafts to a common value. This ensures that all shafts have the same responsiveness characteristics in the model follow-up control, eliminating the followability differences that cause trajectory deviation during synchronous control. The common control gain is determined based on the aggregate inertia moment of all controlled objects, creating a unified control baseline for all shafts.
Solution Approach 2:
The patent merges the individual control parameters of multiple shafts into a single common control gain. Instead of treating each shaft's control gain independently, the invention combines the inertia characteristics of all shafts and determines one unified gain value that is applied to all model follow-up control parts, thereby synchronizing their responsiveness.
2Speed
If individual control gains are set for each control shaft, then responsiveness can be optimized for each shaft, but followability deviations occur between shafts
Solution Approach 1:
The patent applies local quality by differentiating between the determination of the common control gain (based on aggregate system characteristics) and the application of this gain to individual shafts. While the gain value itself is uniform across all shafts, the approach recognizes that each shaft has different inertia characteristics that are accounted for in the aggregate calculation, allowing optimized responsiveness while maintaining consistency.
3Manufacturing precision
If control parameters are adjusted individually for each shaft, then shaft-specific performance is improved, but complexity of control parameter management increases
Solution Approach 1:
The patent applies universality by creating a single common control gain that serves all control shafts simultaneously. This universal parameter replaces multiple individual gain settings, simplifying parameter management while maintaining control precision. The common gain is calculated to account for the collective characteristics of all shafts, making the control system both simpler and more consistent.
Data Source
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AI summary
A processing device (10) is provided and electrically connected to a drive controller (4) for driving a control object (6). The drive controller (4) has a predetermined control structure (460) that includes a feedback system (400) and a control model part (450), and that enables model follow-up control according to the control models, and has the predetermined control structures (460) corresponding to the control objects (6), respectively. The processing device (10) determines a common control gain to set a predetermined control gain in the control model part (450) of each predetermined control structure (460) corresponding to the control objects (6) to the common control gain for all the control model parts (450) when synchronous control of the control objects (6) is performed, and instructs the drive controller (4) to set the common control gain for the control model part (450) corresponding to each predetermined control structure (460).