Non-Rigid Load Vibration Control via Smooth Move Profiles
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Solution Overview
Problem
Motors used to move non-rigid loads often cause undesirable vibrations and resonances due to sharp movements and excitation at resonant frequencies, even with tightly controlled operations, leading to compromised performance when detuning is necessary to reduce these issues.
Innovation Solution
Implementing 'smooth move' input profiles with piece-wise continuous derivatives and a notch filter configured to remove specific frequency components, which reduces excitation at resonant frequencies and minimizes unwanted movements by using a notch filter defined by notch frequency, width, depth, and gain, potentially in open or closed loop configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If detuning is applied to reduce vibrations and resonances, then load stability is improved, but motor performance deteriorates
Solution Approach 1:
The system applies preliminary action by using smooth move input profiles that pre-condition the motor commands before execution. The input profile generates continuous derivatives that prevent excitation of resonant frequencies from the outset, eliminating the need for detuning and allowing the motor to operate at full performance while maintaining load stability
Solution Approach 2:
The system changes parameters by modifying the input signal characteristics through smooth move profiles with continuous derivatives. This parameter change in the control input prevents resonance excitation without requiring changes to the motor's operational parameters, thus maintaining both load stability and motor performance
2Stability of the object's composition
If smooth move input profiles with continuous derivatives are applied, then resonance excitation is reduced, but control complexity increases
Solution Approach 1:
The system uses an intermediary approach by introducing a smooth move input profile generator as a mediator between the control system and motor. This intermediary component processes commands to ensure continuous derivatives, reducing resonance excitation through a dedicated module that adds manageable complexity rather than complicating the entire control system
Data Source
AI summary
A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.