Control Parameter Presetting for Variable-Inertia Load Postures
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Solution Overview
Problem
Existing control parameter setting technologies for systems with load devices having machine parameters that change with posture are inefficient, requiring repetitive operations and real-time inertia estimation, leading to increased complexity and operation load.
Innovation Solution
A parameter setting support apparatus that specifies evaluation index values based on frequency response characteristics in maximum and minimum inertia postures, allowing for the calculation of combined evaluation index values and the setting of control parameters, facilitating stable control independent of posture changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time inertia estimation is performed to set control parameters, then control stability across varying postures is improved, but device complexity and operation load increase
Solution Approach 1:
The patent applies preliminary action by pre-calculating control parameters offline for multiple predetermined postures before actual operation. The control parameter setting device stores parameter sets corresponding to different postures (e.g., arm extended, arm retracted) in advance, eliminating the need for real-time inertia estimation during operation. This resolves the contradiction by maintaining control stability through pre-prepared parameters while significantly reducing operation load and device complexity.
2Measurement precision
If control parameters are set for each posture independently, then control precision is improved, but time consumption increases
Solution Approach 1:
The patent merges the control parameter setting process by simultaneously calculating and storing parameter sets for multiple postures in a single offline operation. The control parameter setting device generates comprehensive parameter tables that cover all predetermined postures at once, rather than requiring sequential adjustment for each posture. This resolves the contradiction by maintaining high control precision across all postures while significantly reducing the time required compared to traditional methods.
Solution Approach 2:
By performing all control parameter calculations in advance before operation begins, the patent eliminates time-consuming iterative adjustments during actual use. The pre-calculated parameter sets are readily available for immediate deployment, resolving the time consumption issue while maintaining precision through the thorough offline optimization process.
3Reliability
If iterative adjustment and evaluation is performed for control parameters, then control performance is improved, but productivity decreases
Solution Approach 1:
The patent performs all control parameter optimization and evaluation in advance during an offline setup phase, producing ready-to-use parameter sets for multiple postures. This eliminates the need for repetitive iterative adjustments during actual operation, thereby maintaining high control performance while dramatically improving parameter setting efficiency and overall productivity.
Solution Approach 2:
The patent segments the parameter setting process into an offline preparation phase and an online execution phase. The complex iterative optimization is confined to the offline phase where time is not critical, while the online phase simply retrieves pre-optimized parameters. This segmentation resolves the contradiction by isolating the time-consuming optimization from the productivity-critical operation phase.
Data Source
AI summary
A technique facilitates presetting of parameters for controlling a control target including a load device that has machine parameters such as inertia changeable in accordance with its posture or state. A parameter setting support apparatus (10) for supporting a control apparatus (30) in control parameter setting includes a first specifier (14) that specifies evaluation index values indicating control stability or control performance of the control apparatus (30) based on frequency response characteristics of a control target (40) in postures of the load device (42) having maximum inertia and minimum inertia, and a second specifier (14) that specifies a combined evaluation index value representing an evaluation index value in the posture of the load device (42) in operation based on the evaluation index values specified, by the first specifier (14), in the postures of the load device (42) having maximum inertia and minimum inertia.