Distributed Motor Control for Multi-Axis Synchronization
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Solution Overview
Problem
Existing motor control systems face challenges in efficiently managing control commands and position information across multiple motors, leading to increased processing loads on host control apparatuses and reduced synchronization accuracy, especially in systems with a large number of axes or complex mechanical configurations.
Innovation Solution
A motor control system that includes host control circuitry generating control commands, multiple motor control apparatuses, and sensors detecting position information, with information sharing circuitry allowing data communication among motor control apparatuses to share reference and position information, enabling self-sustained operation and fine-tuned synchronization without relying on the host control apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the host control apparatus centrally manages control commands for multiple motors, then the control system maintains centralized coordination, but the processing load on the host control apparatus increases and synchronization accuracy deteriorates
Solution Approach 1:
The patent divides the centralized control function into distributed control units, where each motor control apparatus becomes an independent decision-making entity. The host control apparatus generates reference commands, but individual motor control apparatuses independently generate detailed control signals based on shared reference information, eliminating the need for the host to process all control commands centrally.
Solution Approach 2:
The patent introduces shared reference information as an intermediary between the host control apparatus and individual motor control apparatuses. This reference information acts as a mediator that carries essential coordination data without requiring direct centralized processing of all control signals, thereby reducing the host's processing load while maintaining synchronization.
2Measurement precision
If the host control apparatus processes all control commands centrally, then centralized control is maintained, but the command resolution and synchronization accuracy are reduced
Solution Approach 1:
The control processing function is segmented between the host control apparatus (generating reference commands) and individual motor control apparatuses (generating detailed control signals). This segmentation allows each unit to operate at optimal resolution levels, with motor control apparatuses achieving fine command resolution independently while the host maintains overall coordination efficiency.
Solution Approach 2:
The host control apparatus performs preliminary action by generating reference commands and sharing reference information in advance. Individual motor control apparatuses then use this pre-shared information to independently generate high-resolution control signals, achieving fine command resolution without requiring the host to process all commands in real-time.
3Reliability
If motor control apparatuses operate independently without sharing information, then system simplicity is maintained, but synchronization accuracy deteriorates
Solution Approach 1:
The patent implements a universal data communication interface that enables all motor control apparatuses to share reference information using the same communication protocol and data structure. This universal interface allows independent motor control apparatuses to achieve precise synchronization through standardized information exchange, minimizing the complexity of the communication infrastructure.
4Ease of operation
If the host control apparatus generates all control commands, then centralized control is maintained, but the processing load on the host increases
Solution Approach 1:
The patent extracts the detailed control signal generation function from the host control apparatus and relocates it to individual motor control apparatuses. The host control apparatus retains the simpler function of generating reference commands, while the complex task of generating detailed control signals based on shared reference information is performed independently by each motor control apparatus, significantly reducing the host's processing load.
Data Source
AI summary
A motor control system includes host control circuitry configured to generate a first control command; a plurality of motor control apparatuses configured to control a plurality of motors, respectively, based on the first control command; and reference information output circuitry configured to output reference information to one of the plurality of motor control apparatuses which is configured to control one of the plurality of motors. The reference information relates to control of the plurality of motors. Each of the plurality of motor control apparatuses corresponds to a corresponding motor among the plurality of motors and includes information sharing circuitry configured to share the reference information among the plurality of motor control apparatuses via data communication; command conversion circuitry configured to convert the reference information into a second control command; and motor control circuitry configured to control the corresponding motor based on the second control command.