Motor Speed Controller Using Acceleration-Based I-Component
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Solution Overview
Problem
Existing motor rotational speed control systems, such as PI(D) controllers, face challenges in maintaining control quality due to phase delays caused by integrating components, especially when dealing with varying load conditions like those encountered in motor vehicles, which can lead to steady-state control deviations.
Innovation Solution
The method involves determining the integrating I-component of the speed controller based on the comparison between actual and setpoint angular acceleration values, omitting the need for a differentiating D-component and using the proportional P-component and moment of inertia to setpoint angular velocity, allowing for rapid load compensation and improved robustness against parameter deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an integrating I-component is used to compensate for load deviations, then steady-state control deviations are avoided, but phase delay increases
Solution Approach 1:
The patent changes the parameter basis from velocity to acceleration. By determining the I-component based on acceleration deviation rather than velocity deviation, the system achieves load compensation while reducing the phase delay inherent in traditional velocity-based integration. This parameter transformation resolves the contradiction between maintaining steady-state accuracy and minimizing phase delay.
2Speed
If a differentiating D-component is added to compensate for phase delay, then phase response is improved, but device complexity increases
Solution Approach 1:
The patent extracts and eliminates the need for the differentiating D-component by fundamentally changing how the I-component is determined. Instead of adding a D-component to compensate for phase delay, the invention determines the I-component directly from acceleration values, which inherently provides the necessary phase response without requiring additional differential terms. This removes the complexity while maintaining phase response performance.
3Adaptability or versatility
If setpoint angular velocity is determined using only proportional gain and moment of inertia, then adaptability to parameter deviations is improved, but control precision for nonlinear behaviors deteriorates
Solution Approach 1:
The patent introduces dynamic adaptation by determining the setpoint angular acceleration as a function of control deviation using either a constant factor or a characteristic curve. This dynamic approach allows the controller to adapt to nonlinear motor behaviors while maintaining robustness. The system transitions from a static proportional relationship to a dynamic one that can accommodate varying operating conditions, resolving the contradiction between adaptability and precision.
Data Source
AI summary
A method a speed controller includes reading in an actual angular acceleration value of a motor, comparing the actual angular acceleration value to a setpoint angular acceleration value, determining a controller output torque of an integrating I-component of the speed controller based on the comparison, and controlling the rotational speed of the motor based on the determined controller output torque.