Cooperative Control Device With Crossing Circuits For Complex Systems
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Solution Overview
Problem
Existing cooperative control systems face difficulties in achieving advanced control for complex systems like two-arm robots or vehicle wheels, which require more sophisticated control mechanisms beyond simple binocular movement.
Innovation Solution
A cooperative control device with paired output control systems, crossing circuits, and transfer function sections allows for advanced control by connecting input and output sides of control circuit sections, enabling arbitrary setting of transfer functions for conjugate and relative movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a simple cooperative control system is used for binocular movement, then the control structure remains simple, but it cannot achieve advanced cooperative control for complex systems like two-arm robots or vehicle wheels
Solution Approach 1:
The patent creates a universal cooperative control structure that can handle multiple types of control tasks (binocular movement, two-arm robot coordination, vehicle wheel control) through a standardized configuration of crossing circuits and transfer function sections. This multi-functional design allows the same basic structure to be applied across different domains without requiring domain-specific customizations, thereby improving adaptability while controlling complexity.
Solution Approach 2:
The control system is divided into modular components: crossing circuits that handle signal interchange between control systems, and transfer function sections that process specific control transformations. This segmentation allows each component to be independently designed and optimized, making the overall complex system manageable and adaptable to different applications.
2Speed
If crossing circuits without transfer function sections are used, then the control circuit remains simple, but it cannot achieve rapid response to target values for forward movements and controlled speed differences
Solution Approach 1:
Transfer function sections are introduced as intermediary components between the crossing circuits and the final control outputs. These intermediaries process the control signals to achieve rapid response characteristics and controlled speed differences, acting as buffer zones that transform raw control signals into precisely timed and scaled actuation commands without directly complicating the core crossing circuit logic.
Solution Approach 2:
The transfer function sections enable dynamic adjustment of control parameters such as response time constants and speed difference ratios. By changing these parameters, the system can optimize performance for different operating conditions (e.g., rapid forward movement vs. controlled turning) without altering the fundamental control circuit architecture, thus achieving fast response while managing complexity.
Data Source
AI summary
Provided is a cooperative control device capable of advanced cooperative control. The cooperative control device for cooperatively controlling a plurality of control objects is provided with a pair of output control systems, a pair of crossing circuits, and transfer function units. The pair of output control systems is provided for a pair of control objects having respective control circuits. The pair of crossing circuits is provided from a first input side to a second output side and from a second input side to a first output side of the control circuit of the output control systems. The transfer function unit is provided in each pair of crossing circuits.