Distributed Multi-Axis Motion Control for Dynamic Torque Compensation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current multi-axis motion control systems require complex and costly dedicated computation devices to manage dynamic models, leading to reduced performance due to open-loop torque commands and limited position loop update rates, which are sensitive to errors and drift in operating parameters.
Innovation Solution
A distributed multi-axis motion control system where each motor drive determines its motion state based on axis commands and shares velocity, acceleration, and wrench matrices with adjacent drives, allowing for dynamic torque compensation and improved control without the need for a dedicated computation device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a dedicated computation device is used to manage dynamic models for multi-axis motion control, then control accuracy is improved through dynamic torque compensation, but system complexity and cost increase
Solution Approach 1:
The patent segments the dynamic model computation across multiple motor drives, with each motor drive computing and storing dynamic model parameters for its own axis and selected adjacent axes. This distributed segmentation eliminates the need for a single dedicated computation device while maintaining control accuracy through local dynamic compensation.
2Manufacturing precision
If a dedicated computation device is used to manage dynamic models, then dynamic torque compensation is achieved, but update rate is limited due to computational burden
Solution Approach 1:
Each motor drive computes and stores dynamic model parameters locally for its own axis and selected adjacent axes, enabling fast local access to compensation data. This local quality approach allows each motor drive to independently perform dynamic torque compensation at high update rates without being bottlenecked by centralized computation.
3Device complexity
If open-loop torque commands are used for multi-axis control, then system simplicity is maintained, but control performance degrades due to sensitivity to parameter errors and drift
Solution Approach 1:
The patent implements feedback by having each motor drive read back dynamic model parameters from its memory and use them to compute dynamic torque compensation in real-time. This closed-loop feedback mechanism continuously compensates for parameter errors and drift, significantly improving control performance stability while maintaining relative system simplicity.
Data Source
AI summary
A system for distributed multi-axis motion control includes a controller having a memory configured to store a control program and a processor configured to execute the control program. A desired motion trajectory is determined for a multi-axis system having multiple axes, and an axis command is generated for each of the axes as a function of the desired motion trajectory. The system also includes multiple motors and multiple motor drives. Each of the motors corresponds to one axis for the multi-axis system, and each of the motor drives controls at least one of the motors responsive to receiving the axis command for the corresponding motor. Each of the motor drives also determines a motion state for a link driven by the motor as a function of the axis command and transmits at least a portion of the motion state to another motor drive controlling another axis.