Overdetermined Movement Platform Redundant Actuator Control
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Solution Overview
Problem
Existing movement platform systems with redundant actuators are bulky and inefficient, and systems with fail-safe mechanisms either require multiple actuators or may fail to return to a safe position in case of actuator failure.
Innovation Solution
An overdetermined movement platform system with at least eight long-stroke actuators and a controller that dynamically redistributes forces using a model predictive control algorithm to ensure redundancy and efficient actuator usage, even in case of failures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If redundant actuators are added to ensure safety and reliability, then the system reliability improves, but the device complexity and bulkiness increase
Solution Approach 1:
The controller performs multiple functions: it controls the actuators for normal platform movement, monitors actuator conditions for safety, detects failures, and autonomously executes fail-safe return maneuvers. This multi-functionality eliminates the need for separate redundant actuator systems while maintaining high reliability.
Solution Approach 2:
The system monitors its own actuator conditions and autonomously detects failures. Upon detecting a failure, the controller automatically executes the fail-safe return sequence without external intervention, making the system self-protecting and reducing the need for additional safety hardware.
2Reliability
If fail-safe mechanisms are implemented with multiple actuators, then the system reliability improves, but the device complexity increases
Solution Approach 1:
The controller continuously monitors actuator conditions and uses this feedback to detect failures. Based on the feedback from actuator status, the controller automatically determines when to initiate fail-safe return maneuvers, creating a closed-loop safety system that doesn't require additional hardware complexity.
Solution Approach 2:
The controller acts as an intermediary that manages the relationship between the actuators and the platform. It coordinates actuator operations during normal function and automatically mediates the fail-safe return sequence when failures occur, eliminating the need for separate fail-safe actuator systems.
3Reliability
If the number of actuators is increased to provide redundancy, then the system reliability improves, but the actuator power requirements increase
Solution Approach 1:
The system uses exactly eight actuators - sufficient to provide redundancy for six-degree-of-freedom control without excessive power consumption. This optimal number provides the necessary reliability while avoiding the power penalties of having too many actuators.
Solution Approach 2:
The controller dynamically adjusts actuator force distribution based on real-time conditions. By optimizing the force parameters exercised by each actuator, the system achieves reliable redundant control while minimizing total power consumption compared to systems with more actuators operating at fixed power levels.
Data Source
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AI summary
The invention is directed to an overdetermined movement platform system, comprising a base; a platform movable along 6 degrees of freedom relative to said base; at least eight long-stroke actuators, wherein each actuator couples the base with the platform and a controller which (a) is configured to adapt a demanded platform movement set-point to a commanded platform movement set-point, (b) is configured to move the eight long-stroke actuators such that the commanded platform movement set-point is achieved and (c) is configured to dynamically redistribute the forces as exercised by the actuators on the platform between the actuators.