Motor Command Generation Device with Feedback Correction
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Solution Overview
Problem
Conventional motor control devices have limited accuracy in generating internal position commands due to an open-loop method using pulse train commands from host devices, resulting in low freedom and insufficient command generation accuracy.
Innovation Solution
A command generation device that includes a command receiving unit and an internal target generation unit, which generates internal target values for motor position and rotational speed based on high-level command values, using feedback calculations to correct differences and generate values in a cycle shorter than the high-level command value reception cycle, enabling accurate position and rotational speed control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an open-loop method using pulse train commands from host device is used to generate internal position command, then the device complexity is reduced, but the command generation accuracy is insufficient
Solution Approach 1:
The patent implements a feedback mechanism where the internal target value is corrected based on the difference between the high-level command value and the internal target value. The feedback calculator generates corrected internal target values in a cycle shorter than the high-level command value reception cycle, thereby improving command generation accuracy without requiring complex dedicated hardware
Solution Approach 2:
The patent changes the control parameter from simple pulse train counting to a corrected internal target value that incorporates feedback. By calculating the difference between commanded and actual positions and applying correction in a higher-frequency cycle, the system achieves better accuracy while maintaining manageable complexity
2Measurement precision
If feedback calculation is performed in a cycle shorter than high-level command value reception cycle, then the command generation accuracy is improved, but the processing complexity increases
Solution Approach 1:
The patent segments the control process into two distinct cycles: the high-level command value reception cycle from the host device and the shorter internal target value correction cycle. This segmentation allows feedback calculation to occur at optimal frequency without overwhelming the system, balancing accuracy improvement with processing manageability
Solution Approach 2:
The feedback calculator performs preliminary correction calculations for internal target values before they are needed for motor control. By pre-calculating corrected values in the shorter cycle, the system prepares accurate command data in advance, improving accuracy without adding real-time processing burden
Data Source
AI summary
A command generation device according to an exemplary embodiment of the present invention includes a command receiving unit that receives a high-level command value related to motion of a motor from a host device, and an internal target generation unit that generates an internal target value of the motor, including a position target value and a rotational speed target value, based on the high-level command value. The internal target generation unit includes a feedback calculator that generates the internal target value corrected based on a difference between the high-level command value and the internal target value, and generates the internal target value corrected in a cycle shorter than a cycle of receiving the high-level command value with the command receiving unit.