Motor Control with Model Following and Feedforward for Overshoot
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Solution Overview
Problem
Conventional motor control systems suffer from inaccuracies in modeling the control target, leading to delays and issues like overshoot due to insufficient modeling accuracy.
Innovation Solution
A motor control apparatus that incorporates a model following control unit, an additional feedforward control unit, and a synthesis unit to generate a synthesized control target value, which includes a torque and speed control target value, to improve response performance by correcting deviations and compensating for viscous friction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If model following control is used to improve followability, then response performance is improved, but overshoot occurs due to modeling inaccuracies
Solution Approach 1:
The patent introduces a feedback mechanism where the actual motor position is detected and compared with the command position to generate position deviation. This feedback loop allows the system to detect and correct overshoot conditions in real-time, improving reliability while maintaining fast response performance through the model following control.
Solution Approach 2:
The patent applies preliminary action by using model following control to predict and prepare control commands based on the desired trajectory before actual movement occurs. This anticipatory control improves response performance by pre-calculating optimal control actions, while the feedback mechanism prevents overshoot by correcting deviations as they develop.
2Reliability
If modeling accuracy is increased to reduce overshoot, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent employs parameter changes by adjusting control parameters such as position deviation, proportional gain, and integration gain to optimize performance. Rather than increasing modeling complexity, the system achieves reliable overshoot reduction through careful tuning of control parameters in the feedback loop, maintaining simplicity while improving reliability.
Solution Approach 2:
The patent segments the control system into distinct functional components: model following control for trajectory prediction, feedback control for error correction, and parameter tuning modules. This segmentation allows each component to be optimized independently, reducing overall system complexity while achieving reliable overshoot reduction through coordinated operation of simplified subsystems.
3Reliability
If feedback control is added to correct overshoot, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent merges model following control and feedback control into a unified control system. The model following component provides trajectory prediction while the feedback component corrects deviations, and both functions are integrated through shared position detection and command processing. This merging reduces device complexity by eliminating redundant components while maintaining reliable overshoot correction through synergistic operation of combined control functions.
Data Source
AI summary
A motor control apparatus includes a model following control unit that computes a first control target value by calculating an equation that models a device including a motor based on an input position command value, an additional feedforward control unit that computes a second control target value based on differentiation of the input position command value, a synthesis unit that generates a synthesized control target value based on the first control target value and the second control target value, and a drive control unit that controls driving of the motor based on the synthesized control target value.