Motion Control Device Synchronization Lag Compensation

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Solution Overview

Problem

Existing motion control systems face synchronization lag due to delays in information transmission and processing between axes, which hinders precise motion control.

Innovation Solution

A control device that compensates for synchronization lag by computing and applying correction factors based on the delays in both the first and second axes, using a processor to generate and adjust position commands, thereby synchronizing the axes effectively.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If position information is transmitted from the first axis to the second axis for synchronization, then the axes can be synchronized, but synchronization lag occurs due to transmission and processing delays

Engineering Contradiction:

Improvesynchronization accuracyVSAvoidsynchronization lag

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent applies preliminary action by measuring the delay time between the first and second axes in advance, then using this pre-measured delay information to generate corrected position commands. The control device measures the actual delay time during a teaching phase, stores this delay characteristic, and subsequently uses it to compensate for synchronization lag in real-time operation, thereby reducing the synchronization lag without sacrificing synchronization accuracy

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent implements feedback by continuously monitoring the position information from both axes, measuring the actual delay time between them, and using this measured delay to generate corrected position commands for the second axis. The control device creates a closed-loop system where the delay measurement feeds back into the command generation process, enabling dynamic compensation that maintains synchronization accuracy while minimizing lag

Inventive Principle:

Principle #23Feedback

2Loss of time

If delay compensation is implemented using filter-based methods, then synchronization lag is reduced, but the complexity of the control system increases

Engineering Contradiction:

Improvesynchronization lagVSAvoidcontrol system complexity

Core Design Contradiction:

Loss of timeVSDevice complexity

Solution Approach 1:

The patent applies parameter changes by measuring the actual delay time parameter between axes and using this specific parameter value to generate corrected position commands. Instead of using complex filter algorithms with multiple parameters, the system directly utilizes the measured delay time parameter to adjust the position commands, thereby reducing synchronization lag while keeping the control system relatively simple and easy to implement

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentEP3065012B1Control device and method of synchronizing control

Publication Date: 2019.12.25 OMRON CORP

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AI summary

To deal with the synchronization lag due to a delay on the second axis in a motion control system that synchronizes a first axis and a second axis. A control device includes a processor that uses position information for a first axis (real or virtual) to compute a position command for a second axis and provides an output to the second axis corresponding to the position command, whereby the control device synchronizes the second axis with the first axis. The processor corrects the position command to compensate for the synchronization lag caused by a delay due to a transmission of the command position to the second axis, and a delay on the second axis.