Host Controller Position Control Gain Adjustment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional host controllers that output position command values to motor controllers face challenges in maintaining the stability and quickness of motor control operations when override values change, leading to alterations in the motion trajectory of driven objects.
Innovation Solution
A host controller system that includes a reference value generating unit, a speed command value generating unit, and a position control gain generating unit, which analyze data to generate a position control gain based on the ratio of the speed command value to a reference value, ensuring the motion trajectory remains constant despite changes in override values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the host controller changes the position control gain based on the position of the motor or driven object, then the stability of control and quickness of operations are improved, but the motion trajectory of the driven object changes when override values change
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the position control gain based on the ratio between the actual speed command value and the reference speed command value. When an override value changes the speed command value, the position control gain is recalculated using the formula: position control gain = (third speed command value / reference value) × gain-related value. This parameter adjustment maintains control stability while compensating for trajectory deviations caused by override operations.
2Ease of operation
If the host controller generates a speed command value based on an override value to reduce motor speed for operational checks, then the ability to perform operational checks is improved, but the position deviation between position command value and actual position changes
Solution Approach 1:
The patent implements feedback by continuously monitoring the ratio between the third speed command value (adjusted by override) and the reference speed command value, then using this feedback to dynamically adjust the position control gain. The motor controller receives feedback about the current speed command ratio and adjusts the position control gain accordingly, ensuring that position deviation is compensated even when override values are applied for operational checks.
3Device complexity
If the host controller uses a fixed position control gain, then the device complexity is reduced, but the adaptability to different override values and operating conditions deteriorates
Solution Approach 1:
The patent applies dynamics by transitioning from a fixed position control gain to a dynamic gain adjustment mechanism. The position control gain is no longer static but changes in real-time based on the ratio between the actual speed command value and the reference speed command value. This dynamic adjustment allows the control system to adapt to different override values and operating conditions while maintaining a relatively simple overall system architecture.
Data Source
AI summary
A reference value generating unit (14b) generates a reference value which is equal to a speed command value taken when an override value is 1. A speed command value generating unit (14c) generates a speed command value taken when an override value is a set value. A position control gain generating unit (14d) generates a position control gain to be used by a motor controller (12) on the basis of the ratio of the speed command value to the reference value and a gain-related value relating to a gain which is set in accordance with an upper die (9a), and outputs the generated position control gain to a memory (11).