Mechanical System Simulation for Fast Servo Parameter Tuning
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Solution Overview
Problem
Existing methods for setting control parameters in servo drivers are time-consuming and prone to damaging the device due to improper adjustments, and simulation methods are limited by the accuracy of the control model, requiring excessive user knowledge and precision.
Innovation Solution
A simulation device that computes a frequency response function and sets control parameters using a simulation system with a control block structure, allowing for time response simulation without actual motor operation, incorporating feedback and feedforward systems for improved precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If actual device operation is used to measure response and set control parameters, then measurement accuracy is improved, but adjusting time increases significantly and device damage risk increases
Solution Approach 1:
The patent creates a virtual copy of the mechanical system through a simulation device that replicates the controlled object's characteristics. This virtual model allows measurement of response without physically operating the actual device, thereby maintaining measurement accuracy while eliminating time-consuming repeated adjustments and device damage risks.
Solution Approach 2:
The simulation device performs preliminary measurements and parameter adjustments in a virtual environment before implementing changes on the actual device. By computing frequency response functions and testing control parameters beforehand, the system avoids unnecessary actual device operations, reducing both time loss and damage risk.
2Measurement precision
If actual device operation is used to measure response, then measurement accuracy is improved, but device damage risk increases due to improper control parameters
Solution Approach 1:
By using a virtual simulation model instead of the actual device, the system eliminates the risk of physical damage while maintaining measurement capability. The simulation environment allows safe testing of improper control parameters without consequences to the real device.
Solution Approach 2:
The simulation device acts as a protective buffer by allowing failed test operations in a virtual environment. Control parameters that would damage the actual device can be tested and rejected in simulation first, cushioning against potential harm before real device operation occurs.
3Productivity
If traditional simulation with fixed control model is used, then simulation speed is improved, but simulation precision decreases when model differs from actual device
Solution Approach 1:
The simulation device dynamically adapts the control model by computing the frequency response function from actual device measurements and incorporating it into the simulation. This creates a dynamic simulation model that reflects the actual device characteristics, improving accuracy while maintaining simulation speed through efficient computational methods.
Solution Approach 2:
The system changes the simulation model parameters by computing the frequency response function and using it to define the simulation system's characteristics. This parameter adjustment allows the simulation to accurately reflect the actual device without requiring a completely different modeling approach, balancing speed and precision.
4Measurement precision
If simulation system is made more complex to match actual device characteristics, then simulation precision is improved, but device complexity increases and user knowledge requirement increases
Solution Approach 1:
Instead of increasing structural complexity, the system improves simulation accuracy by changing the parameter representation - using the computed frequency response function to define the simulation system's characteristics. This approach maintains relative simplicity while achieving high precision through accurate parameter definition rather than complex model structure.
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
This approach reduces the time required for adjusting control parameters, enhances simulation precision, and allows for accurate simulation even with limited measurement data, ensuring the accuracy and safety of the process.
Implementation Method 1
a frequency response function computing part, computing a frequency response function containing characteristics of the controlled object based on a relation between a first command value driving the mechanical system and a measured value of the response of the mechanical system driven by the first command value
Implementation Method 2
an impulse response computing part, computing an impulse response by performing inverse Fourier transform on the frequency transfer function for simulation
Data Source
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AI summary
The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.