Control Apparatus Using Interference Matrix for Position Compensation
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Solution Overview
Problem
Existing control systems face instability and error in target position following due to nonlinear variations in the positional relationship between drive sources and control subjects, particularly when using drive force transmitting tools like wires or coupling mechanisms, which are difficult to accurately model and compensate for.
Innovation Solution
A control apparatus and method that calculates position and torque compensation using an interference matrix to stabilize target position following, by storing data on the relationship between drive and output shaft positions and detecting these positions to adjust command values for precise control, without directly measuring tension, thus maintaining rigidity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If position compensation is performed using filtering means with an interference matrix, then manufacturing precision is improved, but device complexity increases due to the need for accurate modeling of nonlinear elements
Solution Approach 1:
The patent replaces direct mechanical measurement of tension with a computational approach using an interference matrix model. Instead of using tension differential type torque sensors that directly contact the wire, the system calculates position compensation values through mathematical modeling of the relationship between drive shaft position, wire elongation, and output shaft position. This substitution of mechanical sensing with computational modeling reduces device complexity while maintaining positioning precision.
2Measurement precision
If tension is directly measured by a tension differential type torque sensor, then measurement precision is improved, but the rigidity of the drive force transmitting tool decreases
Solution Approach 1:
The patent introduces an interference matrix model as an intermediary between the drive shaft and output shaft. Instead of directly measuring tension with a torque sensor that contacts the wire, the system uses the interference matrix to calculate the relationship between drive shaft position and output shaft position, accounting for wire elongation effects. This intermediary computational model provides the necessary measurement information without physically contacting or weakening the wire, thus maintaining its rigidity.
3Manufacturing precision
If an integral element is introduced into the position control system, then manufacturing precision is improved by eliminating stationary deviation, but stability deteriorates due to phase delay
Solution Approach 1:
The patent calculates position compensation values in advance using the interference matrix model, before the actual positioning operation. By pre-calculating the compensation values based on the desired output shaft position and the modeled relationship with drive shaft position, the system eliminates the need for integral elements that would otherwise be required to eliminate stationary deviation. This preliminary calculation approach achieves high positioning precision without introducing phase delay, thereby maintaining control stability.
Data Source
AI summary
A control apparatus includes: a memory storing data regarding an interference matrix; a position compensation calculator calculating position compensation by using the data based on a target position of an output shaft and a detected position of the output shaft; a torque compensation calculator calculating torque compensation by using the data based on the detected position of the output shaft and a detected position of a drive shaft; and a command value calculation unit calculating a command value for the drive source based on the position compensation and the torque compensation.