Motor Friction Compensation With Continuous Feedforward Torque
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Solution Overview
Problem
Existing motor control systems face issues with friction compensation, leading to unintended phenomena such as vibration due to discontinuous changes in torque commands, which affect the responsiveness and stability of the control target.
Innovation Solution
A control system that calculates a continuous feedforward compensation value based on a control target model to compensate for friction, using a combination of feedback and feedforward control to generate smooth torque commands, thereby reducing sudden changes and enhancing responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If friction compensation is applied using conventional methods, then the control accuracy is improved, but discontinuous changes in torque commands cause vibration and reduce stability
Solution Approach 1:
The patent applies continuity by ensuring the feedforward compensation value changes continuously over time rather than in discrete steps. The processing circuitry calculates compensation values based on current position and velocity, ensuring smooth transitions that eliminate abrupt torque changes and resulting vibrations while maintaining control accuracy.
Solution Approach 2:
The patent implements dynamics by making the feedforward compensation value adaptive to changing system conditions. The compensation value is dynamically adjusted based on real-time position and velocity measurements, allowing the system to respond smoothly to varying operational states without causing instability.
2Speed
If feedforward friction compensation is implemented, then responsiveness is improved, but discontinuous torque commands generate unintended phenomena such as vibration
Solution Approach 1:
The patent ensures continuous compensation by calculating feedforward values based on continuous position and velocity data. This continuity prevents abrupt torque changes that would generate vibration, while still providing the responsive friction compensation needed for high-speed operation.
Solution Approach 2:
The patent introduces an intermediary calculation process that smooths the transition of compensation values. By basing the feedforward compensation on both position and velocity, the system creates a intermediate value that bridges sudden changes, eliminating vibration while maintaining responsiveness.
3Manufacturing precision
If conventional friction compensation methods are used, then the control precision is enhanced, but the system complexity increases due to discontinuous control signals
Solution Approach 1:
The patent simplifies the control system by implementing continuous compensation calculations that naturally produce smooth control signals. This approach maintains high precision while reducing complexity by eliminating the need for additional signal processing to handle discontinuities.
Data Source
AI summary
A control system includes processing circuitry that calculates, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value, generates a command based on the feedforward compensation value, and outputs the command to cause the control target to operate.