Load Oscillation Damping via Calculated Spring Torque
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Solution Overview
Problem
Current methods for damping low-frequency load oscillations in drives with a motor and load are complex, requiring specialized knowledge for commissioning and often necessitate additional measurement devices, making them unsuitable for broad product solutions and prone to instability.
Innovation Solution
A method that calculates the spring torque from actual angular velocity, motor moment of inertia, and motor torque values, supplying this torque to a damper to actively dampen load oscillations without requiring additional measurement devices, leveraging existing infrastructure and being robust to variations in load properties.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If state controllers are used to dampen load oscillations, then damping effectiveness is improved, but device complexity and commissioning difficulty increase significantly
Solution Approach 1:
The patent extracts the essential damping function from complex state controllers by identifying and utilizing only the critical parameters (motor torque, angular velocity, moment of inertia) that directly influence load oscillations. This extraction simplifies the controller while maintaining damping effectiveness by focusing on the core mechanical coupling dynamics through the spring element.
Solution Approach 2:
The controller utilizes existing measurements from the drive system (motor torque and angular velocity) and known parameters (motor moment of inertia) to self-determine the spring torque and generate damping actions without requiring additional sensors or complex external measurement systems. The system serves itself by leveraging already-available data.
2Measurement precision
If additional measurement devices are installed on the load side, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent uses the spring element as a mechanical intermediary that couples the motor and load, allowing the determination of load dynamics through motor-side measurements. The spring's elastic properties transmit mechanical information from the load side to the motor side, enabling indirect measurement of load conditions without physical sensors on the load.
Solution Approach 2:
The patent replaces mechanical measurement devices (sensors, transducers) on the load side with a mathematical model that calculates spring torque based on motor torque, angular velocity, and moment of inertia. This substitution eliminates the need for additional measurement hardware while providing sufficient measurement precision for damping control.
3Manufacturing precision
If manual commissioning by experts is required, then adjustment precision is improved, but ease of operation deteriorates
Solution Approach 1:
The controller automatically determines the spring torque and generates appropriate damping actions using existing system parameters and real-time measurements. This self-service capability eliminates the need for manual expert commissioning while maintaining control precision, as the system adapts automatically to the mechanical coupling characteristics.
Solution Approach 2:
The patent changes the control approach from manually adjusting multiple feedback loops to automatically calculating spring torque based on fundamental mechanical parameters (torque, velocity, inertia). This parameter-based approach simplifies commissioning by relying on inherent system properties rather than empirical tuning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables effective damping of load oscillations with easy commissioning and robust performance, integrating seamlessly with existing systems, and maintaining damping effect even with suboptimal settings, without the need for additional measuring devices.
Implementation Method 1
a load 2 is mechanically coupled to a motor 6 via a spring element 4, 8
Data Source
Figure 1~2
Figure 3
Figure 4
AI summary
The invention relates to a method for attenuating load oscillations in a load mechanism (26) having a controlled drive (32), in which a load (2) is mechanically coupled to a motor (6) via a spring element (28), having the steps of: - determining at least one angular velocity actual value (ωMist), - determining a motor moment of inertia (JM), - determining a motor torque value, in particular a motor torque actual value (M ist), - calculating a spring torque (MF) from the angular velocity actual value (ωMist), the motor moment of inertia (JM ) and the motor torque value, in particular the motor torque actual value (Mist), - supplying the spring torque (MF ) to an attenuator connection (44) for attenuating the load oscillations. The invention also relates to an apparatus for attenuating load oscillations in a load mechanism.