Motor Control Device Dynamic Preload Adjustment
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Solution Overview
Problem
In motor control systems, existing techniques face challenges in promptly positioning a driven object while preventing backlash between motors and the driven object, especially when the operation amount exceeds a certain threshold, leading to mechanical shock and deformation.
Innovation Solution
A motor control device that generates and adjusts preload commands for two motors driving a driven object in opposite directions, reducing the absolute value of forces applied when the operation amount exceeds a threshold, allowing for precise positioning and minimizing backlash and mechanical shock.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a preload is applied to the driven object to prevent backlash, then positioning accuracy is improved, but the driven object cannot be promptly positioned to a target position when operation amount exceeds threshold
Solution Approach 1:
The preload command is dynamically adjusted based on the operation amount. When the operation amount exceeds a predetermined threshold, the preload command is reduced or canceled. This dynamic adjustment allows the system to maintain high positioning accuracy during idle states while enabling rapid positioning responses when actual movement operations are required, thereby resolving the contradiction between positioning accuracy and positioning time.
2Stability of the object's composition
If a preload is applied to prevent backlash, then mechanical stability is improved, but mechanical shock and deformation occur when operation amount exceeds threshold
Solution Approach 1:
The preload command is dynamically adjusted based on the operation amount. When the operation amount exceeds a predetermined threshold, the preload command is reduced or canceled to prevent mechanical shock and deformation. This dynamic adjustment allows the system to maintain mechanical stability during idle states while avoiding harmful mechanical shock during active operations, thereby resolving the contradiction between mechanical stability and harmful factors.
3Manufacturing precision
If a preload command is added to operation commands, then backlash is prevented, but the absolute value of forces applied to the driven object increases excessively
Solution Approach 1:
The preload command is dynamically adjusted based on the operation amount. When the operation amount exceeds a predetermined threshold, the preload command is reduced or canceled. This dynamic adjustment allows the system to maintain effective backlash prevention during idle states while avoiding excessively large force magnitudes during active operations, thereby resolving the contradiction between backlash prevention and force magnitude.
Data Source
AI summary
A motor control device capable of promptly positioning a driven object at a target position, while suppressing backlash. The motor control device includes an operation command generation section for generating a first operation command and a second operation command for first and second motors to move the driven object; a preload command generation section for generating a first preload command which is added to the first operation command and a second preload command which is added to the second operation command in order that drive axes of the first motor and the second motor provide the driven object forces in opposite directions; and a preload command adjustment section for adjusting the first preload command and the second preload command in order that an absolute value of the above forces is decreased when an operation amount exceeds a predetermined threshold value.