Motor Controller Integral Element Elimination
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Solution Overview
Problem
The controllability of steered wheels in motor systems can be compromised due to differences in detection values from rotation angle sensors, leading to abrupt torque changes and steady-state deviations, especially when switching between operation processes or encountering communication abnormalities.
Innovation Solution
A controller configuration where the second processing circuit operates the second drive circuit based on the first operation amount, with mechanisms to eliminate the integral element's effect, calculate independent operation amounts, and switch between operation processes to manage differences in detection values and communication abnormalities, ensuring stable motor control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the second operation amount is calculated using the integral element based on the second angle sensor detection value, then the steady-state deviation can be reduced, but the absolute value of the integral element output becomes excessively large causing abrupt torque changes
Solution Approach 1:
The patent applies preliminary action by stopping the integral element in advance before switching from the first operation process to the second operation process. This prevents the integral element output from becoming excessively large, thereby avoiding abrupt torque changes while still enabling steady-state deviation reduction when the second operation process is activated
Solution Approach 2:
The patent implements dynamics by dynamically adjusting the state of the integral element based on the operation process. The integral element is stopped during the first operation process and activated during the second operation process, allowing the system to adapt its control strategy to current operational conditions and avoid harmful torque fluctuations
2Reliability
If the first use operation process is switched to the second use operation process, then redundancy and fault tolerance are improved, but communication abnormalities and sensor value differences cause abrupt torque changes
Solution Approach 1:
The patent applies preliminary action by preparing the integral element state before switching operation processes. By stopping the integral element in advance during the first operation process, the system prevents communication abnormalities and sensor value differences from causing abrupt torque changes when transitioning to the second operation process
Solution Approach 2:
The patent implements beforehand cushioning by eliminating the effect of the integral element before switching operation processes. This cushioning action absorbs potential shocks from sensor value differences and communication abnormalities, ensuring smooth transitions and maintaining system reliability without abrupt torque changes
Data Source
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AI summary
A controller (20) for a motor (10) includes a first processing circuit (301) and a second processing circuit (302) configured to communicate with each other. The first processing circuit (301) is configured to execute a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount. The output process is a process of outputting the first operation amount to the second processing circuit (302). The second processing circuit (302) is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process.