Motor Control Apparatus Vibration Detection Feedback Loop
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Solution Overview
Problem
Conventional motor control systems face challenges in maintaining high response control when faced with fluctuating parameters or disturbances, particularly due to mechanical resonance and torque ripples caused by vibrational components of the disturbance torque.
Innovation Solution
A motor control apparatus comprising a state quantity detector, vibration detection unit, speed signal generator, and speed controller, which detects and subtracts vibrational components from motor position signals to generate torque instructions, thereby forming a feedback loop that ignores vibrational components and reduces their amplification, allowing for high response control even in the presence of mechanical resonance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional motor control is used to achieve high response control, then control speed is improved, but mechanical resonance and torque ripple are amplified due to vibrational components of disturbance torque
Solution Approach 1:
The invention extracts and removes the vibrational component from the disturbance torque by detecting it separately and subtracting it from the torque instruction. This isolation and removal of the harmful vibrational component prevents its amplification while maintaining high response control performance.
Solution Approach 2:
The invention introduces a feedback mechanism where the detected vibrational component of the disturbance torque is fed back and subtracted from the torque instruction in real-time. This active feedback cancellation prevents resonance amplification while preserving the beneficial high response characteristics of conventional control.
2Measurement precision
If feedback gain is increased to improve control response, then control precision is improved, but vibrational components are amplified
Solution Approach 1:
The invention extracts the vibrational component from the disturbance torque detection and removes it before feedback. This allows the feedback gain to be increased for improved precision without amplifying the harmful vibrational components, as they have been separately extracted and eliminated.
Solution Approach 2:
The invention introduces an intermediary processing step that detects and processes the vibrational component separately between the disturbance torque detection and the feedback control. This intermediary action filters out the harmful vibrations while preserving the useful control signals for high-precision feedback.
3Measurement precision
If disturbance observer is used to estimate state quantity, then estimation accuracy is improved, but computational complexity increases
Solution Approach 1:
The invention extracts only the essential vibrational component from the disturbance torque estimation rather than computing the complete state quantity. This selective extraction maintains sufficient estimation accuracy for vibration cancellation while significantly reducing computational complexity compared to full state observation.
Data Source
AI summary
A motor control apparatus includes a state quantity detector configured to output a detection signal in correspondence with a state quantity of a motor, a vibration detection unit configured to detect a disturbance vibration component of the motor based on a torque instruction and the detection signal and output a vibrational component signal in correspondence with the detection result, a speed signal generator configured to generate a speed signal based on a result of subtracting the vibration component signal from the detection signal, and a speed controller configured to generate the torque instruction based on a deviation between a speed instruction and the speed signal.