Position Control Apparatus for Low-Frequency Disturbance Identification
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Solution Overview
Problem
Conventional position control apparatuses face challenges in quickly identifying and compensating for low-frequency disturbance elements like gravitational torque and sliding-mode load torque, leading to delayed convergence and inaccurate nonlinear compensation control.
Innovation Solution
The position control apparatus enhances the strength of linear independence in the signal vector by adjusting the signal amplification ratio during acceleration, allowing for faster identification and accurate compensation of low-frequency disturbance elements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional position control apparatus uses standard signal vector without amplification adjustment, then the control system maintains simple structure, but the identification convergence speed for low-frequency disturbance elements is slow
Solution Approach 1:
The signal amplification ratio is made dynamic and adjustable based on operating conditions (acceleration, deceleration, constant velocity). The control apparatus automatically adjusts the amplification ratio according to the current motion state to enhance identification speed during acceleration/deceleration phases while maintaining normal operation during constant velocity phases.
Solution Approach 2:
The signal amplification ratio is changed as a controllable parameter to optimize identification performance. By adjusting this parameter based on the operating phase (acceleration, deceleration, constant velocity), the system enhances the excitation signal strength during critical phases without permanently increasing system complexity.
2Measurement precision
If the signal amplification ratio is increased during acceleration, then the linear independence strength increases and identification converges faster, but the signal processing complexity increases
Solution Approach 1:
The signal amplification ratio is dynamically adjusted based on the operating phase. During acceleration and deceleration, the ratio is increased to improve identification accuracy. During constant velocity phases, the ratio returns to normal levels, avoiding unnecessary complexity while maintaining high accuracy when needed.
Solution Approach 2:
The control apparatus prepares and applies the appropriate signal amplification ratio in advance based on the commanded motion profile. By anticipating acceleration and deceleration phases, the system pre-adjusts the amplification ratio to ensure optimal identification conditions are met before low-frequency disturbance elements need to be accurately identified.
3Productivity
If conventional control uses uniform signal amplification, then the control logic remains simple, but the convergence speed during acceleration and deceleration is slow
Solution Approach 1:
The signal amplification ratio transitions from a static uniform value to a dynamic variable that changes with operating conditions. The system implements different amplification ratios for different motion phases (acceleration, deceleration, constant velocity), thereby improving control response productivity during critical transitions without requiring complete redesign of the control architecture.
Solution Approach 2:
The control signal amplification is segmented into different phases: normal amplification during constant velocity and enhanced amplification during acceleration/deceleration. This segmentation allows the system to apply increased productivity enhancement only when necessary, rather than uniformly across all operating conditions, thus balancing productivity improvement with complexity management.
Data Source
AI summary
A position control apparatus is provided that can perform accurate nonlinear compensation control immediately after the apparatus is activated. At a time of acceleration, a signal amplification ratio is calculated and designated for each signal vector element based on information related to acceleration/deceleration at a starting time and the structure of a signal vector that is determined for a target plant, and as a result, a signal vector for which the strength of linear independence is increased is generated. Because the strength of the linear independence condition of the signal vector is increased, the speed of convergence of identification for a low-frequency disturbance element, such as a gravitational torque or a sliding-mode load torque, can be increased.