Feedback Control Using Variable Inertia for Operator Comfort
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Solution Overview
Problem
Conventional sensitivity feedback control methods for devices like hydraulic excavators require frequent adjustments of PID gains and lack effective measures to prevent automatic movement when not operated by a person, compromising comfort and safety.
Innovation Solution
A feedback control device that adjusts the moment of inertia as a parameter to improve operator comfort, using a database to accumulate and analyze operational data to determine optimal adjustments for the target device, thereby enhancing comfort and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If PID gain is adjusted every time target speed changes to handle nonlinearity of human sensitivity, then control precision is improved, but device complexity and operational burden increase
Solution Approach 1:
The patent changes the physical parameter of moment of inertia in the transfer function to dynamically adapt the control system to varying operating conditions and human sensitivity characteristics, replacing the need for frequent PID gain adjustments with a single parameter modification that achieves similar adaptive control benefits
Solution Approach 2:
The system transitions from static PID gains to a dynamic moment of inertia parameter that can be adjusted based on real-time operational data accumulated in the database, enabling the control system to adapt its characteristics continuously without increasing overall system complexity
2Reliability
If additional measures are taken to prevent automatic movement when not operated, then safety is improved, but device complexity increases
Solution Approach 1:
The patent implements feedback control by monitoring operational data and using it to adjust the moment of inertia parameter, creating a closed-loop system that naturally prevents automatic movement by continuously adapting to the actual operational state and detecting when no operator input is present
Solution Approach 2:
The control system serves itself by automatically adjusting its own parameters based on accumulated operational data, eliminating the need for external intervention or additional safety mechanisms while maintaining safety through intelligent self-adaptation
Data Source
AI summary
A feedback control device determines a first target angular velocity that is a target angular velocity of an output angular velocity of the target device, using a first transfer function, determines a control input to the target device, based on a difference between the first target angular velocity and the output angular velocity, determines, based on the operation input, a second target angular velocity that is the target angular velocity requested by an operator, determines a degree of comfort of the operator, based on a difference between the output angular velocity and the second target angular velocity, sequentially accumulates the first target angular velocity, the degree of comfort, and a target degree of comfort in a database, and adjusts a first moment of inertia in such a way as to reduce a difference between the target degree of comfort and the degree of comfort, using data accumulated in the database.