Dual-Shaft Motion Synchronization With Virtual Spring Feedback
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Solution Overview
Problem
Existing human-machine interfaces face challenges in transmitting external inputs to remote elements and receiving feedback on position and torque without mechanical connections, which can introduce time delays and offsets due to elastic deformations, and existing solutions do not effectively emulate a direct mechanical connection.
Innovation Solution
An electro-mechanical system with angle sensors and torque actuators on spatially separated shafts, where the electronic control unit synchronizes torques and angles to mimic a direct mechanical connection by using a virtual spring constant, allowing for spatial separation and feedback emulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mechanical connection is used to connect input device and controlled element, then the connection is rigid and direct, but the system becomes complicated and prone to wear
Solution Approach 1:
The patent replaces the mechanical linkage between input device and controlled element with an electro-mechanical control system. The mechanical connection is substituted by electronic control signals that transmit control commands from the input device to the actuator, eliminating complex mechanical linkages, wear-prone bearings, and expensive mechanical components while maintaining reliable control transmission.
2Device complexity
If electro-mechanical control system is used to replace mechanical connection, then device complexity is reduced, but time delay and offset occur due to elastic deformations
Solution Approach 1:
The patent applies preliminary action by predicting the desired position of the controlled element based on the current position of the input device and system dynamics models. The control system calculates advance correction signals that compensate for anticipated time delays and elastic deformations, allowing the system to proactively adjust rather than reactively correct, thereby reducing perceived latency and offset.
Solution Approach 2:
The patent implements feedback by continuously measuring the actual position of the controlled element and comparing it with the target position derived from input device position. The control system uses this position feedback along with torque feedback to dynamically adjust control signals, eliminating time delay-induced offsets through closed-loop correction and ensuring synchronized motion between input device and controlled element.
3Length of moving object
If electro-mechanical control system is used, then spatial separation of components is enabled, but elastic deformations cause offset between input device position and controlled element position
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting control parameters such as virtual spring constant, damping coefficient, and gear ratio in the electro-mechanical control system. These parameter adjustments compensate for elastic deformations in real-time, allowing the system to maintain high position synchronization accuracy despite spatial separation. The virtual mechanical model parameters are tuned to match the physical system's elastic characteristics, enabling precise control across long distances.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This system effectively synchronizes and controls remote elements with minimal offset, enabling true representation of a mechanical connection, applicable in various applications including steer-by-wire systems and remote control of machinery with force feedback.
Implementation Method 1
Each shaft is rotatably mounted in a respective frame member against a spring force
Data Source
AI summary
A system to control an element mounted on a remote shaft by an input device mounted on an input shaft delivers a feedback force from the controlled element to the input device. Torques calculated by an ECU and exerted to the input shaft and to the remote shaft are both functions of the difference of the angular positions of the input shaft and of the remote shaft as measured by angle sensors. The angular positions are weighted by a virtual spring constant that emulates a mechanical connection between the input shaft and the remote shaft.