Position Control Apparatus Non-Linear Spring Deviation Compensation
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Solution Overview
Problem
The non-linear spring characteristic of rolling guide apparatuses leads to deviations in precise positioning, which are difficult to eliminate and require complex friction force calculations, affecting the accuracy of positioning systems.
Innovation Solution
A position control apparatus that subtracts or adds the deviation caused by the non-linear spring characteristic from or to the position command of a movable body, rather than correcting the thrust command, using displacement signals for more accurate correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If friction force correction is applied to the thrust command, then positioning accuracy is improved, but the control process becomes complex and time-consuming
Solution Approach 1:
The invention extracts the non-linear spring characteristic deviation as a separate compensation component. Instead of calculating complex friction forces, the patent measures the actual position, compares it with the command position, and extracts the deviation caused by non-linear spring characteristics. This deviation is then added to the command position to compensate for positioning errors, simplifying the control process while maintaining high positioning accuracy.
Solution Approach 2:
The invention implements feedback by measuring the actual position of the movable body and comparing it with the command position. The difference (deviation) is fed back to the command position for compensation. This feedback mechanism allows the system to automatically correct positioning errors caused by non-linear spring characteristics without requiring complex friction force calculations.
2Manufacturing precision
If friction force calculation is used to correct thrust, then positioning accuracy is improved, but processing time increases
Solution Approach 1:
The invention replaces the mechanical friction force calculation with a direct position-based compensation approach. Instead of calculating friction forces based on velocity and complex equations, the patent directly measures position deviation and uses it for correction. This substitution of the correction mechanism significantly reduces computational complexity and servo processing time while maintaining positioning accuracy.
3Manufacturing precision
If thrust command correction is applied, then non-linear spring characteristic effects are reduced, but control accuracy is limited by force measurement
Solution Approach 1:
The invention creates a copy of the position deviation (the difference between actual and command positions) and uses this copied information to correct the command position. By copying the position error and adding it to the command position, the system achieves high control accuracy using displacement signals, which are more precise than force measurements.
Data Source
AI summary
A new position control apparatus is provided which can reduce deviation caused by a non-linear spring characteristic of a rolling apparatus. In a position control apparatus (5) that controls the position of a movable body (1), in a positioning apparatus (9) including a rolling apparatus (2), a deviation e(t) or d of the movable body 1 caused by the non-linear spring characteristic of the rolling apparatus (2) is subtracted from or added to a position command Xref or r of the movable body (1). The deviation d is calculated by carrying out equivalent exchange on a control circuit for a friction force of the rolling apparatus (2), which is set as a quantity of the dimension of displacement.