Mounting Head Disturbance Compensation Using Acceleration Commands
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing disturbance non-interference-enabling compensation devices are affected by mechanical characteristics like frictional force and control delays, leading to complex configurations and high CPU calculation loads, and are unable to accurately compensate for disturbances in moving body driving systems due to reliance on operation amounts rather than acceleration commands.
Innovation Solution
A two-degree-of-freedom control system that includes a detecting section, feedback and feedforward compensators, and a disturbance non-interference-enabling compensator with a second-order differentiator and multipliers to correct operation amounts based on acceleration command values, reducing the influence of mechanical characteristics and simplifying the compensation process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feedforward compensator is constructed using inverse characteristic of nominal model with second-order differential, then disturbance compensation is achieved, but the configuration becomes complicated and CPU calculation load increases
Solution Approach 1:
The invention extracts only the essential acceleration command value from the operation amount, separating it from feedback compensation components. By using a second-order differentiator to obtain acceleration command values directly from position command values, the system eliminates the need for complex inverse characteristic calculations while maintaining disturbance compensation effectiveness.
Solution Approach 2:
The invention changes the parameter used for disturbance compensation from operation amount (which includes feedback compensation) to acceleration command value (obtained through second-order differentiation). This parameter change simplifies the compensator configuration by removing the need for complex inverse model calculations while preserving the ability to compensate for disturbances.
2Measurement precision
If operation amount including feedback compensation is used for disturbance compensation, then compensation is performed, but mechanical characteristics like frictional force affect the compensation accuracy
Solution Approach 1:
The invention extracts the acceleration command value from the operation amount by using second-order differentiation of position command values. This extraction removes the feedback compensation components that are affected by mechanical characteristics like friction, leaving only the pure acceleration information needed for accurate disturbance compensation.
Solution Approach 2:
The invention segments the operation amount into its constituent parts by using second-order differentiation to isolate the acceleration command value. This segmentation separates the feedforward acceleration component from the feedback compensation components, allowing disturbance compensation to be performed using only the acceleration information without contamination from frictional force compensations.
3Manufacturing precision
If feedback control is used to reduce relative displacement, then positioning accuracy improves, but control delay prevents effective disturbance compensation
Solution Approach 1:
The invention performs preliminary action by calculating the acceleration command value from position command values before the disturbance occurs. By using second-order differentiation of the position command values, the system obtains acceleration information in advance, allowing disturbance compensation to be applied proactively rather than reactively, thus eliminating the negative impact of control delay.
Data Source
AI summary
A positioning control device controlling multiple moving bodies including a disturbance non-interference-enabling compensator performing non-interference-enabling compensation of a disturbance of an feedback compensator and an operation amount of the moving body on the side affected by the disturbance is provided. The disturbance non-interference-enabling compensator includes a second differentiator to perform second-order differentiation of a position command value of a moving body on a disturbance generating side to output an acceleration command value; a first multiplier to multiply an acceleration command value output from the second differentiator by a first gain to output a correction amount of an feedback compensator of the moving body on the side affected by the disturbance; and a second multiplier to multiply an acceleration command value output from the second differentiator by a second gain to output a correction amount for an operation amount of the moving body on the side affected by the disturbance.