Position Controller Friction Compensation
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Solution Overview
Problem
Existing position controllers face challenges in maintaining desired friction compensation without requiring a dedicated operation mode when sliding characteristics change due to deterioration, temperature changes, or lubrication state changes, leading to positional follow-up errors and decreased processing accuracy.
Innovation Solution
A position controller with a friction compensation calculation unit that calculates a friction compensation reference value based on speed and torque commands, using sliding torque normalization and amplification ratios to adjust friction compensation dynamically, allowing for continuous operation without resetting control parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If friction compensation parameters are reset when sliding characteristics change, then processing accuracy is maintained, but operation time increases due to frequent resetting
Solution Approach 1:
The system automatically detects changes in sliding characteristics and adjusts friction compensation parameters without requiring manual intervention or dedicated operation modes. The control unit continuously monitors motor torque and speed to detect sliding torque changes, and autonomously updates friction compensation values to maintain processing accuracy while avoiding non-cutting time for parameter resetting
Solution Approach 2:
The system implements continuous feedback by monitoring the relationship between motor torque and speed to detect changes in sliding characteristics. The control unit compares current sliding torque with reference values and dynamically adjusts friction compensation parameters based on this feedback, enabling automatic adaptation to changing conditions without manual intervention
2Measurement precision
If a dedicated operation mode is provided for detecting sliding torque changes, then friction compensation accuracy is improved, but productivity decreases due to increased non-cutting time
Solution Approach 1:
The control unit performs multiple functions simultaneously: it controls motor operation, monitors sliding torque changes, detects characteristic variations, and adjusts friction compensation parameters all within the normal operating mode. This eliminates the need for separate dedicated detection modes while maintaining accurate friction compensation, thereby preserving productivity
Solution Approach 2:
The system continuously monitors motor torque and speed during normal operation to detect sliding torque changes without interrupting the cutting process. Friction compensation parameters are adjusted in real-time during useful operation rather than during dedicated detection modes, ensuring continuous productive action while maintaining compensation accuracy
Data Source
AI summary
A position controller sets a variable friction compensation value which varies in accordance with a change in sliding characteristics by providing a variable friction compensation value calculation unit that includes a sliding torque normalization calculation unit that normalizes a sliding torque at a predefined speed; a compensation value amplifying ratio calculation unit that calculates a compensation value amplifying ratio based on the sliding torque at the normalized speed; and multipliers.