Motor Control Device Seamless Switching Between Model and Feedback Systems
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Solution Overview
Problem
Existing motor control devices face challenges in quickly switching between model control and feedback control systems during trajectory and positioning control, leading to potential position shifts due to control delays, which hinder the acceleration of cycle time reduction in machines.
Innovation Solution
A motor control device that continuously uses the model control system's output for feedback control, allowing seamless high-speed switching between model and feedback control systems without position shifts, by integrating the model position and speed into the feedback control system's operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the control system is switched from model control system to feedback control system after the amount of model position change becomes zero, then position shift in feedback control system is avoided, but switching speed is reduced
Solution Approach 1:
The invention applies preliminary action by preparing the feedback control system in advance to receive model position change amounts. The feedback control system is kept ready to immediately accept and process position change data from the model control system, eliminating the need to wait for the position change to naturally reach zero before switching. This allows the switching decision to be made based on position instruction changes rather than waiting for position changes to settle.
2Productivity
If the model control system and feedback control system are switched at high speed, then cycle time is reduced, but position shift occurs in feedback control system
Solution Approach 1:
The invention uses the model position change amount as an intermediary element that bridges the model control system and feedback control system. Instead of directly switching control systems, the feedback control system continuously receives and processes model position change amounts as intermediate data. This intermediary mechanism allows seamless transition between control systems without causing position shifts, as the feedback system already has the necessary position change information ready for processing.
3Measurement precision
If feedback control gain is increased, then tracking performance during processing is improved, but vibration control capability is reduced
Solution Approach 1:
The invention applies dynamics by making the control system adaptable and changeable based on operational conditions. The system can dynamically switch between model control and feedback control modes, and the feedback control gain can be adjusted according to the specific phase of operation (processing versus positioning). This dynamic adjustment allows the system to optimize tracking performance during processing while maintaining vibration control capability during positioning operations.
Data Source
AI summary
A motor control device includes a model control system that controls a motor machine model position using a target value (a position instruction after differentiation) related to a position instruction, and a feedback control system that controls a motor position using the target value (a position instruction after differentiation) related to the position instruction and an amount of control (model position) of the model control system. The feedback control system controls the motor position using the amount of control (model position) of the model control system at all times.