Motor Control Device for Vibration Actuator
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Solution Overview
Problem
Conventional multi-degree freedom driving devices exhibit different transfer characteristics between horizontal and vertical orientations due to gravity's influence, leading to unsatisfactory control performance, particularly in the Y direction, resulting in instability and degraded position deviation and responsivity.
Innovation Solution
A motor control device that calculates and compensates for the difference in transfer characteristics between the X and Y directions by adjusting the control gain and driving parameters of the motors, ensuring coordinated control and improved controllability of position deviation and responsivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional multi-degree freedom driving devices are used with identical control gain for all motors, then the device structure is simple, but the control performance degrades due to different transfer characteristics in horizontal and vertical directions caused by gravity
Solution Approach 1:
The patent applies different control gains to different motors based on their specific directions. The control gain setting unit sets a first control gain for motors generating driving force in the horizontal direction and a second control gain for motors generating driving force in the vertical direction, recognizing that each direction has different transfer characteristics due to gravity. This local differentiation resolves the contradiction by optimizing control performance for each specific motor rather than using a uniform approach.
Solution Approach 2:
The patent changes the control parameter (control gain) according to the direction of the motor. By setting different control gains for horizontal and vertical directions, the system adapts to the different transfer characteristics caused by gravity. This parameter change allows the control system to maintain high reliability across different orientations without requiring complex structural modifications.
2Stability of the object's composition
If different control gains are set for different motor directions to compensate for gravity's influence, then control performance and stability are improved, but the control system becomes more complex
Solution Approach 1:
The control gain setting unit implements local quality by assigning different control gains to motors based on their directional characteristics. The first control gain is applied to motors in the horizontal direction while the second control gain is applied to motors in the vertical direction, stabilizing the control system by accounting for gravity's differential impact on each axis without requiring overall system redesign.
Solution Approach 2:
The control gain setting unit performs preliminary action by pre-setting appropriate control gains for each motor direction before operation begins. This anticipatory configuration of control parameters ensures stability from the start of operation, preventing the issues that would arise from using identical gains without requiring real-time complex adjustments during operation.
3Adaptability or versatility
If the device operates in varying orientations, then the device becomes more versatile, but the transfer characteristics between directions change, degrading control precision
Solution Approach 1:
The patent maintains position deviation control precision across varying orientations by applying local quality through direction-specific control gains. When the device operates in different orientations, the control gain setting unit ensures that motors generating driving force in the horizontal direction receive the first control gain while those in the vertical direction receive the second control gain, adapting to the current orientation's gravity effects and maintaining consistent control precision regardless of operational posture.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution achieves stable and precise control by optimizing the control gain for each motor direction, enhancing the control margin and responsiveness of the multi-degree freedom driving device, even under varying orientations and frequencies.
Implementation Method 1
The vibrators 2 (not illustrated), 3 and 4 each include a vibration member (the upper part, of the vibrator 3, 4) having one protrusion and a piezoelectric element (shaded area), which are integrated by bonding or the like
Data Source
AI summary
Provided is a vibration type driving device enabling multidirectional driving of a moving body while considering a difference in transfer characteristics of the synthesized driving force of a plurality of motors between at least two mutually crossing directions.