Transport Motor Disturbance Observer for Wheel Interference Control
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Solution Overview
Problem
In semiconductor manufacturing, unmanned transport systems experience interference between front and rear wheel motors due to independent torque control, leading to inefficiencies and potential disruptions in the manufacturing process.
Innovation Solution
A transport system with a disturbance observer and compensation mechanisms that calculate and adjust current values for each motor to minimize interference, using a first motor controller, a disturbance observer, and compensation current generators to generate compensation current values based on calculated disturbance values, ensuring coordinated movement between the motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the front wheel motor and rear wheel motor are separately controlled through position commands, then each motor can operate independently to achieve position control, but interference phenomena occur between the motors due to lack of awareness of mutual conditions
Solution Approach 1:
The disturbance observer continuously monitors the actual position and current of each motor, compares it with the commanded values, and generates disturbance compensation values that are fed back to the motor controllers. This feedback mechanism enables each motor to be aware of the other's operational state and adjust accordingly, eliminating interference while maintaining independent control capability
Solution Approach 2:
The disturbance observer acts as an intermediary that processes information from both motors and generates compensation signals. By introducing this intermediate processing layer, the system enables indirect communication between motors through compensation currents, allowing them to operate independently while coordinating their actions to prevent interference
2Reliability
If disturbance compensation is implemented between motors, then motor interference is minimized, but the controller bandwidth and gain can be increased to maximize motor performance
Solution Approach 1:
The disturbance compensation is calculated and applied in advance before interference problems manifest. By predicting and compensating for disturbances based on current motor states, the system prevents interference proactively, enabling higher bandwidth and gain settings without risking coordination failures
Data Source
AI summary
Provided is a transport system to minimize an interference between motors of a transport vehicle. The transport system comprises: a first motor controller corresponding to a first wheel and configured to generate a first current value; a first motor system configured to move based on the first current value and provide a first position value according to the movement; a disturbance observer configured to receive the first current value and the first position value and calculate a first disturbance value affecting the first motor system; a second motor controller corresponding to a second wheel and configured to generate a second current value; a compensation current generator configured to generate a second compensation current value based on the second current value and the first disturbance value; and a second motor system configured to move by the second compensation current value and provide a second position value according to the movement.