Positioning Controller Vibration Suppression
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Solution Overview
Problem
Conventional positioning control methods in industrial machines with low rigidity generate residual vibration, leading to extended positioning times due to vibration suppression techniques that either prolong command issuing time or delay acceleration/deceleration, thereby hindering productivity improvements.
Innovation Solution
A positioning controller that includes a position command signal generating unit, a drive control unit, a residual vibration information recording unit, and a position command signal parameter determining unit to generate and adjust position command signals, ensuring residual vibration amplitude remains within an allowable error, thereby shortening positioning times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-generated harmful factors
If a filter is used to suppress vibration by lowering gain at vibration frequency, then vibration is reduced, but command issuing time is extended, resulting in longer positioning time
Solution Approach 1:
The patent changes the parameter of acceleration/deceleration time to be an integer multiple of the natural period, which fundamentally alters the relationship between control parameters and vibration characteristics. This parameter transformation allows the system to achieve vibration suppression without extending command issuing time, as the optimized timing aligns with the natural vibration cycle rather than requiring additional filtering time
2Object-generated harmful factors
If acceleration time and deceleration time are set to integer multiples of natural period for vibration suppression, then vibration is reduced, but command issuing time is extended, resulting in longer positioning time
Solution Approach 1:
The patent transforms the control parameter from arbitrary acceleration/deceleration times to specific values that are integer multiples of the natural period. This parameter optimization creates a resonance condition that naturally suppresses vibration at the moment of positioning completion, eliminating the need for extended command issuing time while achieving vibration suppression
3Productivity
If positioning time is shortened to improve productivity, then output per unit time increases, but residual vibration is generated, compromising positioning accuracy
Solution Approach 1:
The patent optimizes acceleration and deceleration times to be integer multiples of the natural period, which creates a timing condition where vibration is naturally suppressed at the end of positioning. This allows the system to operate at higher speeds (shorter positioning times) while maintaining positioning accuracy, as the optimized parameters ensure vibration amplitude remains within acceptable ranges even during rapid positioning
Solution Approach 2:
The patent utilizes periodic action by aligning acceleration and deceleration timing with the natural period of the control target. This periodic synchronization creates constructive interference that suppresses residual vibration, allowing fast positioning without sacrificing accuracy. The positioning command is structured to complete exactly when vibration is minimized, enabling high productivity while maintaining precision
Data Source
AI summary
A positioning controller includes a position command signal generating unit that generates a position command signal for moving a mechanical load over a set movement distance D by driving a motor; a drive control unit that executes positioning control on the basis of a detected position signal of the mechanical load and the position command signal; a residual vibration information recording unit that stores a plurality of pieces of residual vibration information; and a position command signal parameter determining unit that determines, on the basis of the allowable positioning error and the plurality of pieces of the residual vibration information, a position command signal parameter for generating the position command signal for which the residual vibration amplitude is smaller than or equal to an allowable positioning error.