Linear Motor Control Apparatus Settling Time Optimization
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Solution Overview
Problem
Existing motor control systems face challenges in shortening settling time while preventing vibratory responses, as large proportional control gains are limited by initial position deviations, making it difficult to achieve efficient positioning control.
Innovation Solution
A motor control apparatus and method that generates an acceleration pattern to prolong the deceleration period and switches the proportional control gain to a higher value when the target object reaches the vicinity of the target position, allowing for continuous proportional control to reduce position deviation and shorten settling time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the proportional control gain Kp is set to a large value to shorten settling time, then the positioning response speed improves, but the response becomes vibratory and settling time is lengthened
Solution Approach 1:
The patent applies dynamics by making the proportional control gain variable rather than constant. The control gain is switched between a first value (during movement) and a second value (at target position) based on the real-time position state. This dynamic adjustment allows the system to achieve fast response during movement while ensuring stable settling at the target position, resolving the contradiction between speed and stability.
Solution Approach 2:
The patent changes the parameter of proportional control gain from a fixed value to a variable value that changes based on position. By switching the control gain parameter between two different values according to whether the target object is at the target position or not, the system optimizes both response speed and settling stability, eliminating the vibratory response while shortening settling time.
2Loss of time
If the proportional control gain is switched when the output of the position command value is terminated, then the settling time is shortened, but it is impossible to set a large value for the proportional control gain after switching when the position deviation is large
Solution Approach 1:
The patent uses feedback by continuously monitoring the position of the target object relative to the target position and switching the control gain based on this feedback. When the position detector detects that the target object has reached the target position, the control gain is switched to a larger value to reduce position deviation and shorten settling time. This feedback mechanism ensures that the large control gain is applied only when appropriate, avoiding the limitation of premature switching.
Data Source
AI summary
A motor control apparatus is provided, including: a command generation unit that generates an acceleration pattern time-sequentially indicating an acceleration command value to be used during movement of a target object to a target position using a motor, makes a change to the generated acceleration pattern to prolong a period of reducing a driving speed of the motor in accordance with response characteristics of the motor, and outputs a position command value from the changed acceleration pattern; and a control unit that drives the motor using a proportional control with respect to a position deviation between the position command value output from the command generation unit and the target position of the target object, and changes a proportional control gain in the proportional control to a value larger than a current value when the target object reaches the vicinity of the target position.