Motor Control System Vibration Suppression Model
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Solution Overview
Problem
Conventional motor control systems face challenges in suppressing vibration of a machine base during high-speed positioning, as existing methods either fail to effectively control vibration or require large gain settings that are restricted by mechanical system rigidity, and often rely on unreliable sensors or unclear parameter settings.
Innovation Solution
A motor control system comprising a feedback control system and a model control system, where the model control system includes a movable portion model, a machine base model, and feedback sections with adjustable gains and a torque command low-pass filter, allowing for suppression of machine base vibration and high-speed positioning without a special sensor by setting parameters to achieve stable state equations with quintuple or quadruple roots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a prefilter (notch filter) is used to suppress machine base vibration, then vibration suppression is improved, but positioning settling time increases due to delay
Solution Approach 1:
The patent introduces a machine base model as an intermediary element that estimates machine base position without requiring physical sensors. This model-based approach acts as a mediator between the control system and the mechanical system, providing vibration suppression information without the time delay inherent in physical sensing and filtering methods
Solution Approach 2:
The patent replaces the mechanical prefilter (notch filter) with a computational model-based vibration suppression mechanism. Instead of using physical filtering that introduces time delay, the system uses a machine base model to estimate and compensate for vibrations computationally, substituting mechanical filtering with mathematical modeling
2Object-affected harmful factors
If high gain settings are used to suppress vibration in model following control, then vibration suppression is improved, but system stability is restricted by mechanical rigidity
Solution Approach 1:
The patent dynamically adjusts the control gains based on the machine base model estimates rather than using fixed high gain settings. The machine base position estimate from the model allows for adaptive gain scheduling that maintains stability while achieving vibration suppression, avoiding the need for excessively high fixed gains that would destabilize the system
Solution Approach 2:
The patent implements feedback using the machine base model estimate of machine base position to continuously adjust control parameters. This model-based feedback mechanism provides real-time information about machine base vibrations without requiring high gain amplification, allowing the system to maintain stability while achieving effective vibration suppression through continuous parameter adjustment
3Object-affected harmful factors
If a torsion angle compensator is added to suppress vibration, then device complexity increases, but parameter determination remains unclear
Solution Approach 1:
The patent merges the machine base modeling function with the existing model following control structure. Rather than adding a separate torsion angle compensator with its own complex parameter tuning requirements, the machine base model is integrated into the existing control architecture, combining vibration suppression functionality with the primary position control without significantly increasing overall system complexity
Solution Approach 2:
The machine base model serves multiple functions simultaneously: it estimates machine base position for vibration suppression, provides feedback for control parameter adjustment, and integrates with the existing model following control structure. This multi-functionality eliminates the need for separate dedicated vibration suppression components with unclear parameter determination, as the same model structure accomplishes multiple control objectives
Data Source
AI summary
A motor control system suppresses vibration of a machine base and achieves high-speed positioning without using a special sensor but using a model control system. A first feedback section outputs a first feedback command generated based on model machine base position information and containing at least position information on the machine base. A second feedback section outputs a second feedback command containing a filtered model torque command. A differential between the sum of the first feedback command and the second feedback command obtained by a second addition section and the model torque command is calculated to give the differential to an input portion of a model torque command low-pass filter and an input portion of a torque command low-pass filter. The model control system gives a model position command to a position controller as a position command, and model machine base position information generated based on the model position command is added to a speed command input from the position controller to a speed controller.