Controlled Object Modeling for Nonlinear Motion Control
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Solution Overview
Problem
Existing control systems struggle to accurately model and control complex systems with non-linear characteristics, such as those involving motors and transmission mechanisms, due to difficulties in representing backlash, friction, and other non-linear effects.
Innovation Solution
The control system generates a first model based on a command profile and a response profile, and then generates a second model that represents non-linear characteristics not included in the first model. Control parameters are calculated based on both models to accurately control the system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a single model is used to represent the controlled object, then the device complexity is reduced, but the manufacturing precision and control accuracy deteriorate due to inability to capture non-linear characteristics
Solution Approach 1:
The patent divides the control object model into multiple segments: a first model representing linear characteristics and a second model representing non-linear characteristics. This segmentation allows each model to specialize in specific aspects of the system behavior, improving overall control accuracy without requiring a single overly complex model to capture all characteristics.
Solution Approach 2:
The patent creates a composite model structure by combining the first model (linear characteristics) and the second model (non-linear characteristics) into a unified control framework. This composite approach integrates multiple modeling perspectives to achieve higher precision control while managing complexity through structured composition.
2Measurement precision
If a first model representing linear characteristics is generated, then the ease of manufacture and implementation is improved, but the measurement precision and control accuracy deteriorate due to inability to represent non-linear effects
Solution Approach 1:
The patent segments the modeling process into two distinct phases: generating a first model from command and response profiles for linear characteristics, then generating a second model to capture non-linear characteristics. This segmentation makes the overall complex task more manageable by breaking it into simpler, sequential steps.
Solution Approach 2:
The patent performs preliminary action by first generating the first model using available command and response profiles before addressing non-linear characteristics. This preliminary modeling provides a foundation that simplifies subsequent steps, as the second model only needs to capture the remaining non-linear effects rather than all characteristics from scratch.
Data Source
AI summary
A control system includes circuitry configured to: generate, based on a command profile representing a temporal change of a command for driving a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object; generate, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model; generate, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and control the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters.