Encoder Position Smoothing for Motor Stop Jitter Control
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Solution Overview
Problem
Existing technologies fail to effectively reduce jitter in position data when a motor mechanically coupled to an encoder is stopped, which affects precise control of the motor.
Innovation Solution
A control device with an obtaining unit, smoothing unit, and output unit that processes position data from an encoder, where unsmoothed data is output while the motor is operating and smoothed data is output when stopped, using a state detector to determine the motor's operating state and a smoothing unit to calculate average values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position data from the encoder is output as it is while the motor is stopped, then the control performance is maintained, but jitter in the position data occurs
Solution Approach 1:
The patent applies dynamics by making the data processing method adaptive to the motor's operating state. The control device dynamically switches between two modes: outputting unsmoothed position data when the motor is operating to maintain control performance, and outputting smoothed position data when the motor is stopped to reduce jitter. This dynamic adjustment resolves the contradiction between maintaining measurement precision and ensuring data stability.
Solution Approach 2:
The patent changes the processing parameter of position data based on the motor's operating state. When the motor is stopped, the smoothing parameter is activated to reduce jitter in the position data. When the motor is operating, the smoothing parameter is deactivated to maintain real-time control accuracy. This parameter change approach allows the system to optimize between stability and precision based on operational conditions.
2Stability of the object's composition
If smoothed position data is output while the motor is operating, then jitter is reduced, but control performance is affected
Solution Approach 1:
The control device dynamically adjusts the data smoothing application based on motor operation status. During motor operation, the system disables smoothing to maintain real-time control responsiveness and accuracy. During motor stop, the system enables smoothing to reduce jitter. This dynamic switching ensures that productivity is not compromised during operation while still achieving stability when needed.
Solution Approach 2:
The patent applies local quality by treating position data differently based on the operational context. Instead of uniformly smoothing all position data, the system selectively applies smoothing only to position data generated when the motor is stopped. This localized processing approach ensures that control performance during operation remains unaffected while jitter during stop is reduced.
3Reliability
If additional detection units are added to detect motor operating state, then the operating state can be accurately detected, but device complexity increases
Solution Approach 1:
The patent makes the existing position data acquisition function multi-functional. The same encoder and data acquisition unit that collect position information also provide the basis for determining motor operating state. By analyzing the characteristics of position data (such as change rate or validity flags), the system can infer whether the motor is operating or stopped without adding dedicated detection units. This universality approach maintains reliability while avoiding increased device complexity.
Solution Approach 2:
The control device performs self-detection of the motor operating state by analyzing its own position data from the encoder. Instead of requiring external sensors or additional detection units, the system uses the existing position information to determine operational status. This self-service approach eliminates the need for additional hardware while maintaining accurate state detection.
Data Source
AI summary
Means for achieving a new object which is reduction of jitter in position data which may be caused while a motor mechanically coupled to an encoder is stopped is provided. A control device includes an obtaining unit configured to obtain position data from an encoder, a smoothing unit configured to smooth the position data from the encoder, a state detector configured to detect an operating state of the motor mechanically coupled to the encoder, and an output unit configured to output the position data from the encoder every control cycle. The output unit is configured to output the position data from the encoder as it is while the motor is operating and to output the smoothed position data while the motor is stopped.