Motor-Joint Oscillation Detection Using Position and Sensor Fusion
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Solution Overview
Problem
Existing oscillation information calculation devices, such as those disclosed in PTL 1, do not adequately address the need to accurately determine the presence, frequency, and cause of oscillations in motors and movable parts connected via joints, which can lead to inefficiencies and potential damage.
Innovation Solution
An oscillation information calculation device that utilizes time series position and sensor information from a position detector and a sensor attached to a movable part to calculate oscillation presence/absence, frequency, and causal information, using thresholds and Fourier transforms to analyze the data and adjust gain parameters for reduced oscillation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only sensor information from the movable part is used to calculate oscillation, then the device complexity is reduced, but the measurement precision of oscillation detection is insufficient
Solution Approach 1:
The detection system is segmented into two independent information sources: position detector information from the motor side and sensor information from the movable part side. Each source independently contributes to oscillation detection, allowing the system to achieve high measurement precision without requiring a single complex detection device. The segmentation enables modular information collection from different locations in the transmission system.
Solution Approach 2:
The patent merges position information from the motor's position detector with sensor information from the movable part. By combining these two information sources through the information calculator, the system achieves comprehensive oscillation detection that leverages the strengths of both measurement approaches, improving overall detection precision while maintaining relatively simple individual components.
2Loss of information
If multiple types of oscillation information are calculated simultaneously, then the information completeness is improved, but the loss of time for calculation increases
Solution Approach 1:
The system performs preliminary calculation of all three oscillation information types (presence/absence, frequency, and cause) simultaneously using the obtained position and sensor information. By calculating all information types in advance rather than sequentially, the system minimizes total calculation time while ensuring complete oscillation information is available for control decisions.
Solution Approach 2:
The calculated oscillation information is fed back to the control device, which uses this comprehensive information to adjust control parameters and reduce oscillation. The feedback loop enables the system to continuously improve performance by utilizing complete oscillation information without requiring excessive calculation time, as the real-time application of control adjustments compensates for the computational load.
Data Source
AI summary
An oscillation information calculation device includes: a sensor information obtainer that obtains time series position information on a motor as detected by a position detector, and time series sensor information on a movable part as detected by a sensor attached to the movable part, the movable part being connected to the motor via a joint; and an information calculator that calculates and outputs at least one of oscillation presence/absence information, oscillation frequency information, or oscillation causal information, based on the time series position information and the time series sensor information, the oscillation presence/absence information indicating presence or absence of oscillation of the motor and the movable part, the oscillation frequency information indicating an oscillation frequency of the motor and the movable part, the oscillation causal information indicating a cause of the oscillation of the motor and the movable part.