Motor Command Correction for Staged Elastic Deformation
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Solution Overview
Problem
The positioning accuracy of a driven body is compromised due to staged elastic deformations of multiple elastic elements between a motor and a driven body, which existing technologies fail to adequately address.
Innovation Solution
A control device that includes a command generating section, a correction amount calculating section, and a stage detecting section to dynamically adjust correction amount calculation processing based on the elasticity of multiple elastic elements, switching between different correction methods when transitioning between stages of elastic deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple elastic elements are used between motor and driven body, then the system can handle complex mechanical requirements and provide necessary compliance, but positioning accuracy deteriorates due to staged elastic deformations
Solution Approach 1:
The patent segments the correction process into multiple stages corresponding to each elastic element. The stage detecting section divides the overall elastic deformation process into distinct phases (first stage: first elastic element deforms; second stage: second elastic element deforms), and the correction amount calculating section applies different correction calculations for each stage. This segmentation allows the system to maintain multiple elastic elements for compliance while accurately compensating for positioning errors at each deformation stage.
Solution Approach 2:
The patent implements dynamic correction by continuously detecting the current stage of elastic deformation and adjusting the correction amount calculation in real-time. The stage detecting section monitors the driving force and identifies which stage the system is currently in, and the correction amount calculating section dynamically switches between different correction algorithms (first correction for single elastic element, second correction for multiple elastic elements). This dynamic adaptation enables accurate positioning despite the changing mechanical compliance characteristics.
2Device complexity
If correction amount calculation is based on single elastic element parameters, then calculation is simple, but positioning accuracy deteriorates when multiple elastic elements are involved
Solution Approach 1:
The correction system dynamically adjusts its complexity based on the current operational stage. When only the first elastic element is deforming (first stage), the system uses simpler first correction amount calculation processing. When the second elastic element also deforms (second stage), the system automatically switches to more complex second correction amount calculation processing that accounts for both elements. This dynamic complexity management ensures high positioning accuracy without unnecessarily complicating the calculation in all conditions.
Solution Approach 2:
The patent extracts and isolates the specific correction calculations needed for each elastic element configuration. The correction amount calculating section separates the correction logic into distinct processing paths: first correction amount calculation processing for single-element scenarios and second correction amount calculation processing for multi-element scenarios. This extraction allows the system to apply only the necessary correction complexity for each situation, improving both accuracy and computational efficiency.
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
Highly accurate cancellation of errors caused by staged elastic deformations, thereby significantly improving the positioning accuracy of the driven body.
Implementation Method 1
a plurality of elastic elements are interposed between a motor and a driven body, and the plurality of elastic elements are elastically deformed in stages
Data Source
AI summary
A control device includes: a command generating unit that generates a command for a motor; a correction-amount calculating unit that performs correction-amount calculation processing for calculating a correction amount for the command on the basis of elastic parameters of elastic elements; and a stage detecting unit that detects the fact that a transition has been made from a first stage in which a driving force generated by the motor acts on the first elastic element to a second stage in which the driving force acts on the second elastic element via the first elastic element. When the transition from the first stage to the second stage is detected, the correction-amount calculating unit switches from first correction-amount calculation processing based on the first elastic parameter of the first elastic element to second correction-amount calculation processing based on the second elastic parameter of the second elastic element and the first elastic parameter.