Multi-Controller Gain Switching for Synchronous Motion Timing
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Solution Overview
Problem
Existing control systems face challenges in synchronizing the operation timings between controlled objects with different responsiveness, leading to shifts in timing due to differences in inertia and rigidity.
Innovation Solution
A control system that switches between normal and synchronous control modes, using a third controller to adjust the gain of the second controlled object in synchronization with the first controlled object, ensuring both objects operate in harmony by gradually changing the responsiveness of the second object to match that of the first.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the second controlled object is controlled with high gain to improve responsiveness, then the responsiveness of the second controlled object is improved, but the shift in operation timings between the first and second controlled objects increases
Solution Approach 1:
The gain of the second controlled object is made dynamically adjustable rather than fixed. The gain switching section changes the gain value based on the operation mode (normal mode or synchronous mode), allowing the system to optimize between responsiveness and timing synchronization by selecting appropriate gain values for different operational requirements
Solution Approach 2:
The control parameter (gain) of the second controlled object is changed to resolve the contradiction. By switching the gain value according to the operation mode, the system adjusts the responsiveness parameter to either match the first controlled object (reducing timing shift) or maintain high responsiveness when timing synchronization is less critical
2Loss of time
If the gain of the second controlled object is decreased to synchronize operation timings, then the shift in operation timings is reduced, but the responsiveness of the second controlled object deteriorates
Solution Approach 1:
The gain is made dynamically可调 instead of being fixed at a low value. The system can switch between low gain (for timing synchronization in synchronous mode) and high gain (for responsiveness in normal mode), allowing optimal performance for different operational requirements without permanent degradation
Solution Approach 2:
The gain is periodically adjusted based on the operation mode requirements. During synchronous control periods, low gain is applied to synchronize timing; during normal operation periods, high gain is applied to maintain responsiveness. This periodic switching allows the system to achieve both objectives at different times
3Measurement precision
If a complex control system is used to synchronize multiple controlled objects with different responsiveness, then the synchronization accuracy is improved, but the device complexity increases
Solution Approach 1:
Instead of applying complex control to the entire system, the invention applies gain switching only to the second controlled object that has different responsiveness characteristics. This localized approach achieves synchronization without requiring complex control mechanisms across all components
Solution Approach 2:
The invention achieves synchronization by simply changing the gain parameter of the second controlled object based on operation mode, rather than implementing complex control algorithms. This parameter-based approach maintains system simplicity while achieving the synchronization objective
Data Source
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AI summary
The control system 1 includes a first controller 100, a second controller 200, and a third controller 300. The third controller 300 includes a first communication module 320, a second communication module 330, and a control processing module 340 configured to output a first operation command for operating the first controlled object to the first controller 100 via the first communication module 320, configured to output a second operation command for operating the second controlled object to the second controller 200 via the second communication module 330, configured to switch a mode between a normal control mode and a synchronous control mode, and configured to output, to the second controller 200 via the second communication module 330, a command to decrease the second gain during at least part of a period of the synchronous control mode as compared with the normal control mode.