Motor Control Apparatus Integrated Position Pressure Feedback
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Solution Overview
Problem
Existing motor control systems face challenges in maintaining linearity and avoiding impacts during switching between position control and pressure control due to differences in block structures and gain settings, leading to suboptimal performance in pressure control applications.
Innovation Solution
A motor control apparatus with integrated position, speed, and pressure control feedback loops allows for simultaneous position and pressure control in the same control block, using a pressure controller to add a position correction command based on pressure deviation to the position command, thereby maintaining linearity and preventing offsetting phenomena.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If position control and pressure control are performed by separately providing and switching control feedback loops, then control flexibility is improved, but linearity is degraded and impacts occur during switching
Solution Approach 1:
The patent merges position control and pressure control into a single integrated control block. The position control loop and pressure control loop coexist in the same control structure, with the pressure controller adding position correction commands to the position command based on pressure deviation. This eliminates the need for switching between separate control loops, thereby maintaining linearity and avoiding impacts during transitions while preserving control flexibility.
2Adaptability or versatility
If separate position control and pressure control loops are used, then control functionality is improved, but offsetting phenomena occur
Solution Approach 1:
The patent implements a feedback mechanism where the pressure controller continuously monitors pressure deviation and dynamically adjusts the position command by adding position correction commands. This feedback loop ensures that pressure control actions do not cause offsetting in the position control, and vice versa, thereby maintaining high control accuracy while providing both position and pressure control functionalities.
3Ease of operation
If control loops are switched between position and pressure control, then operational adaptability is improved, but impacts occur during switching
Solution Approach 1:
The patent ensures continuous control action by integrating both position and pressure control loops in the same control block. Instead of switching between separate loops, the system continuously processes both position commands and pressure correction commands simultaneously, eliminating discontinuities and impacts during mode transitions while maintaining operational adaptability.
Data Source
AI summary
A control apparatus for controlling a motor performing pressure control includes circuitry which calculates a detected speed of a motor based on an input pressure command, sensor reaction force, movable part viscous damping force and movable part mass, outputs the detected speed, calculates the movable part viscous damping force by multiplying the detected speed by a movable part viscous damping coefficient to calculate the detected speed, calculates a detected position of the motor by integrating the detected speed, outputs the detected position, calculates a sensor viscous damping pressure by multiplying the detected speed by a sensor viscous damping coefficient, calculates a sensor spring pressure by multiplying the detected position by a sensor spring constant, calculates a detected pressure of a pressure sensor by adding the sensor spring pressure to the sensor viscous damping pressure, and outputs the sensor reaction force which is the detected pressure to calculate the detected speed.