Dual-Controller Mode Switching for Stable Load Change Control
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Solution Overview
Problem
Existing control systems for control targets like motors face instability when changes caused by external factors, such as load torque changes, result in contradictions between command values from different controllers.
Innovation Solution
A control device comprising a first and second controller, a detector, and a corrector. The detector detects changes in measured values caused by external factors and changes the control mode, while the corrector generates correction values to adjust the second controller accordingly, reducing control instability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple controllers are used to control a control target, then control precision can be improved, but control stability deteriorates when external factors cause contradictions between command values
Solution Approach 1:
The patent introduces a command value synthesis unit as an intermediary component that receives command values from multiple controllers and synthesizes them into a unified command value. This mediator resolves contradictions between conflicting command values from different controllers, preventing control instability while preserving the benefits of multiple controllers for improved precision
Solution Approach 2:
The patent implements a feedback mechanism where the system detects when external factors cause contradictions between command values and activates a correction mode. The command value synthesis unit adjusts the synthesis process based on feedback about command value consistency, switching between normal synthesis and correction synthesis to maintain control stability
2Speed
If the system operates in normal control mode, then response speed is fast, but control stability deteriorates when load changes occur
Solution Approach 1:
The patent makes the control system dynamic by implementing mode switching between normal control mode and correction control mode based on detected load changes. The command value synthesis unit adapts its synthesis method dynamically - using normal synthesis for fast response when conditions are stable, and correction synthesis when load changes are detected, thus balancing speed and stability
3Stability of the object's composition
If correction mode is activated to handle load changes, then control stability is improved, but response time increases due to mode switching
Solution Approach 1:
The patent applies preliminary action by continuously monitoring load changes and detecting them before they cause significant control instability. The detector unit proactively identifies load variations and triggers mode switching in advance, allowing the correction synthesis method to be activated before contradictions between command values fully develop, thus reducing the effective response time penalty
Data Source
AI summary
According to the present embodiment, a control device controlling a control target is provided which includes a first controller, a second controller, a detector, and a corrector. The first controller is configured to, by using a first measured value measured for the control target and a first command value that is a target value of the first measured value as inputs, generate a second command value. The second controller is configured to, by using a second measured value measured for the control target and the second command value as inputs, generate a target value supplied to the control target as a third command value. The detector is configured to detect a change in the second measured value and to change a control mode. The corrector is configured to generate a second correction value and correct the second controller in accordance with the control mode.