Position Control for Multiple Backlash Reversal Compensation
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Solution Overview
Problem
Existing position control devices fail to maintain high command-following performance when the torque transmission path includes multiple backlash portions, leading to command-following errors due to gaps or deflections in the torque transmission components.
Innovation Solution
A position control device that calculates coefficients for each backlash portion based on position and velocity command values, detects the reversal of load-side transmission torque, and adjusts backlash compensation values to maintain accurate position control, even with multiple backlash portions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If backlash compensation is applied to a torque transmission path with multiple backlash portions, then command-following performance is improved, but the complexity of detecting and measuring each backlash portion increases
Solution Approach 1:
The patent divides the torque transmission path into multiple segments, each containing a backlash portion. For each segment k, it calculates a specific coefficient Mk that characterizes the backlash characteristics of that segment. This segmentation allows the system to handle multiple backlash portions independently and systematically, improving command-following performance while managing the complexity through structured division.
Solution Approach 2:
The patent performs preliminary operation of the target plant to temporarily reverse the direction of travel with backlash compensation turned off. During this preliminary phase, it calculates the coefficients Mk for each backlash portion based on position command values and detected timing when position deviation increases rapidly. This preliminary action prepares the necessary parameters before enabling backlash compensation, simplifying the subsequent detection and measurement process.
2Adaptability or versatility
If the torque transmission path includes multiple backlash portions, then the system's adaptability increases, but the device complexity increases
Solution Approach 1:
The patent creates a universal backlash compensation mechanism that can handle any number of backlash portions in the torque transmission path. By using a standardized approach where each backlash portion k is characterized by a coefficient Mk and handled through the same detection and compensation procedure, the system achieves multi-functionality without proportionally increasing complexity. The same control structure adapts to different numbers and configurations of backlash portions.
Solution Approach 2:
The patent manages complexity by changing parameters systematically - specifically by calculating different coefficients Mk for each backlash portion based on their specific characteristics. Instead of creating complex structural modifications, the system adapts to multiple backlash portions by adjusting these parameters (coefficients Mk, timing θk) while maintaining the same overall control architecture, thus improving adaptability without excessive device complexity.
Data Source
AI summary
A position control device for a target plant includes a coefficient calculation unit that performs temporary operation of the target plant so as to reverse a direction of travel of the target plant with backlash compensation turned off and calculates a coefficient for reverse detection for each of a plurality of backlash portions, based on a position command value at a timing when a position deviation between a position detection value for a load end and the position command value increases rapidly, a reverse detection unit that operates the target plant with the backlash compensation turned on and detects a timing when a load-side transmission torque is reversed, based on the coefficient, the position command value, and a moment of inertia of the entire load, and a compensation value calculation unit that increases or decreases a backlash compensation value at the timing when reverse is detected.