Motor Encoder and Resolver Fusion for Stable Gimbal Control
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Solution Overview
Problem
Motorized pedestal systems, such as antenna systems, face issues with stiffness that conventional approaches like reducing dynamics and feedback linearization cannot adequately address for specific applications, leading to resonance and instability.
Innovation Solution
The system combines dynamic responses from a gimbal resolver and motor encoders to generate a stable position signal, allowing for higher dynamics without resonance, by converting motor shaft positions into velocity signals and integrating them with resolver signals to control motor operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If conventional approaches like reducing dynamics and feedback linearization are used to address stiffness, then motor system stability is improved, but motor system stiffness and dynamic performance deteriorate
Solution Approach 1:
The patent combines encoder feedback and resolver feedback into a unified control signal through signal fusion. The encoder provides high-resolution position data while the resolver provides robust dynamic response, and their combination resolves the contradiction between stability and dynamic performance by leveraging the strengths of both feedback sources simultaneously
Solution Approach 2:
The patent introduces an intermediary signal processing stage that fuses encoder and resolver feedback signals. This intermediary processing layer transforms the raw feedback from both sources into a combined control signal that achieves both stability and high dynamic performance, acting as a mediator between the two feedback mechanisms
2Manufacturing precision
If encoder feedback is used for precise position control, then manufacturing precision is improved, but reliability under harsh conditions deteriorates
Solution Approach 1:
The patent applies different feedback mechanisms to different functional requirements: the encoder provides high-precision position data for accuracy-critical applications, while the resolver provides robust feedback for harsh environmental conditions. Each sensor is optimized for its specific local function, and their outputs are fused to achieve both precision and reliability
Solution Approach 2:
The patent creates a composite feedback system by combining encoder and resolver signals. Just as composite materials combine different materials to achieve superior properties, this composite feedback system combines the precision advantages of encoders with the environmental robustness of resolvers to achieve both high precision and reliability
3Speed
If resolver feedback is used for dynamic response, then speed is improved, but position control precision deteriorates
Solution Approach 1:
The patent merges resolver feedback (providing fast dynamic response) with encoder feedback (providing high position precision) into a unified control signal. This combination allows the system to achieve both rapid dynamic response and accurate position control simultaneously, resolving the contradiction between speed and precision
Data Source
AI summary
Systems and methods for operating a motorized system. The methods comprise by a circuit: receiving a first position signal generated by a gimbal resolver coupled to a load, a second position signal generated by a first motor encoder coupled to a shaft of a first motor, and a third position signal generated by a second motor encoder coupled to a shaft of a second motor; converting the second and third position signals into a velocity signal specifying a scaled velocity of the load; converting the velocity signal into a fourth position signal specifying a position of the load; combining the first position signal and the fourth position signal to generate a fifth position signal representing a stable position of the load; and using the fifth position signal to control operations of the first and second motors.