Machine Control Device Adaptive Gain Vibration Suppression
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Solution Overview
Problem
Conventional machine control devices face challenges in suppressing vibration of control object machines due to inertial forces, especially when the arm is long and rigid or the heavy article is heavy, and they struggle to maintain rapid response and adequate vibration suppression, particularly when abrupt disturbing torques occur.
Innovation Solution
A machine control device with adjustable proportional gain settings and filter processing, where the proportional gain and correction gain are dynamically adjusted based on movement velocity, position, and weight of the heavy article, and the time constant of the filter is varied to effectively suppress vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the proportional gain is increased to quicken the response to position instruction, then the response speed is improved, but vibration phenomena cannot be adequately suppressed when abrupt disturbing torques occur
Solution Approach 1:
The patent applies dynamics by making the proportional gain variable rather than fixed. The gain is dynamically adjusted based on the absolute value of the derivative of the position instruction |dp/dt| and the absolute value of the derivative of the position feedback |df/dt|. When these derivatives indicate rapid changes or potential disturbances, the gain is reduced to suppress vibrations; when changes are gradual, the gain is increased to improve response speed.
Solution Approach 2:
The patent changes the parameter of proportional gain from a constant value to a variable value that adapts to operating conditions. By computing the gain as a function of instruction and feedback derivatives, the system optimizes the balance between response speed and vibration suppression according to real-time conditions.
2Adaptability or versatility
If the arm is made long to increase working range, then the versatility is improved, but vibration suppression becomes more difficult due to increased inertial forces
Solution Approach 1:
The patent compensates for the increased inertial forces in long-arm configurations by dynamically adjusting the proportional gain based on the rate of change of position instructions and feedback. This adaptive approach allows the system to maintain vibration suppression performance regardless of arm length.
Solution Approach 2:
The patent uses feedback from the position detection device and computes its derivative to inform gain adjustment. This feedback mechanism allows the system to detect and respond to vibrations caused by long arm inertial forces, adjusting the gain to suppress them effectively.
3Productivity
If the heavy article is made heavier to increase load capacity, then the productivity is improved, but vibration suppression becomes more difficult due to increased inertial forces
Solution Approach 1:
The patent addresses the increased inertial forces from heavier loads by dynamically adjusting the proportional gain based on the derivatives of position instruction and feedback. This allows the system to maintain effective vibration suppression while handling heavier articles.
Solution Approach 2:
The patent applies dynamics by making the control gain adaptive rather than fixed. The gain responds dynamically to the actual operating conditions including the effects of heavy load inertial forces, optimizing vibration suppression for each specific loading condition.
Data Source
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AI summary
A machine control device is provided which can halt a control object machine to a target position without causing vibrations even when moving a long arm, on the end of which is mounted with a heavy article. A machine control device has a position regulator configured to enable modification of the proportional gain during regulation operations, and has proportional gain setting unit, which sends an instruction to modify the proportional gain to the position regulator based on a position instruction value which is an output of a position instruction block. In this proportional gain setting means, when the movement velocity based on the position instruction value from the position instruction block decreases, that is, when the position instruction value is a value at which the movement distance is short, the proportional gain of the position regulator is set high, and when the movement velocity based on the position instruction value increases, that is, when the position instruction value is a value at which the movement distance is long, the proportional gain is set low.