Operating Apparatus Control Unit for Vibration Damping
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Solution Overview
Problem
Existing control systems for operating apparatuses fail to simultaneously achieve high-speed positioning of a movable member and reduction of vibration in the main body effectively, due to limitations in feedback control and sensitivity across the frequency spectrum.
Innovation Solution
The implementation of a control unit with a position control system and an acceleration control system, featuring feedforward and feedback compensators that adjust parameters based on the position and acceleration of the main body, allowing for active damping of vibrations and improved positioning response.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a conventional feedback control system is used for positioning, then the system structure is simple, but the positioning speed is slow and vibration reduction is insufficient
Solution Approach 1:
The control system is segmented into two independent parallel systems: a position control system that generates position commands and a vibration control system that generates acceleration commands. This segmentation allows each system to optimize for its specific function while working together to achieve both high positioning speed and effective vibration reduction.
Solution Approach 2:
The invention transitions from conventional single-loop position control to a dual-loop control architecture operating in different control dimensions (position and acceleration). The position control system operates in the position domain while the vibration control system operates in the acceleration domain, enabling simultaneous optimization of both positioning performance and vibration suppression.
2Object-affected harmful factors
If feedback control is used to reduce vibration, then vibration reduction is achieved, but positioning speed decreases
Solution Approach 1:
The vibration control system implements feedback control by detecting the main body acceleration and feeding it back to generate compensatory acceleration commands. This feedback mechanism actively suppresses vibrations while the parallel position control system maintains high positioning speed through feedforward compensation.
Solution Approach 2:
The position control system performs preliminary action by generating position commands and their derivatives (velocity and acceleration) in advance through feedforward compensators. This allows the system to anticipate and prepare for positioning movements, achieving high speed without relying solely on reactive feedback control.
3Object-affected harmful factors
If acceleration feedback control is added to reduce vibration, then vibration reduction improves, but control system complexity increases
Solution Approach 1:
The invention merges the position control and vibration control systems into a unified dual-loop control architecture that shares common components such as the drive source and control unit. This merging allows both control objectives to be achieved simultaneously without proportionally increasing system complexity, as the systems work cooperatively rather than independently.
Data Source
AI summary
An operating apparatus including a main body, a movable member, a drive unit having a drive source, and a control unit controlling the drive source to control the position of the movable member relative to the main body. The control unit including a position control system and an acceleration control system. The position control system including a position command portion, a first feedforward compensator outputting a first operation command to the drive source, a second feedforward compensator, a positional-information acquiring device obtaining information related to the position of the movable member, and a first feedback compensator outputting a second operation command to the drive source. The acceleration control system including an acceleration-information acquiring device obtaining information related to an acceleration of the main body, a third feedforward compensator, a second feedback compensator outputting a third operation command to the drive source.