Redundant Servo Coupling for Stable Actuator Command Generation
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Solution Overview
Problem
Existing servo control systems with multiple redundancy face issues of diverging variable generations, leading to sub-optimal actuator command generation and difficulty in identifying malfunctions, especially when redundant systems generate significantly different values.
Innovation Solution
A method for controlling actuators using redundant servo devices that iteratively corrects variable generations by calculating a difference between current and reference values, using a correction coefficient to adaptively adjust the current value, and selecting the median of multiple values to enhance accuracy and reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If redundant servo devices operate independently without coupling, then system complexity is reduced, but variable generations diverge leading to reduced reliability
Solution Approach 1:
The patent implements a feedback mechanism where each servo device reads the latest variable values generated by other redundant servo devices and calculates a correction based on the difference between its own generation and the reference value. This feedback loop ensures that all servo devices converge to consistent variable generations, preventing divergence and improving reliability without requiring complex centralized arbitration.
Solution Approach 2:
Each servo device autonomously performs the correction of its own variable generations using the feedback information from other devices. The servo device independently calculates the difference between its generated value and the reference value, applies the correction coefficient, and adjusts its output. This self-service approach eliminates the need for complex external arbitration mechanisms while maintaining reliability.
2Measurement precision
If redundant servo devices are coupled to prevent divergence, then variable generation accuracy improves, but system complexity increases
Solution Approach 1:
The patent changes the parameter of correction strength by introducing a correction coefficient that can be adjusted based on system conditions. This coefficient allows the system to adaptively control the coupling strength between redundant servo devices, improving variable generation accuracy while managing complexity through parameter adjustment rather than structural complexity.
Solution Approach 2:
The correction mechanism applies local quality by allowing each servo device to independently adjust its own variable generations based on local feedback information. Each device reads the latest values from other devices and applies corrections only to its own outputs, rather than requiring global system-wide adjustments. This localized approach improves accuracy while minimizing overall system complexity.
3Stability of the object's composition
If correction coefficient is high to prevent divergence, then variable generation consistency improves, but responsiveness to setpoint changes decreases
Solution Approach 1:
The patent implements dynamic adjustment of the correction coefficient based on system conditions and signal variability. Rather than using a fixed high correction coefficient that would reduce responsiveness, the system adaptively modulates the coupling strength. This allows the system to maintain consistency during normal operation while preserving responsiveness during transient conditions, resolving the contradiction between stability and speed.
Solution Approach 2:
The correction mechanism operates periodically at each iteration of the servo loop, reading the latest variable values and applying corrections in discrete steps. This periodic action allows the system to maintain consistency through regular synchronization while preserving responsiveness between correction cycles. The iterative nature of the correction process enables the system to balance stability and speed by applying corrections at appropriate intervals.
Data Source
AI summary
The invention relates to a system for controlling an actuator comprising a plurality of redundant servo devices and producing values of the same magnitude from the same set point and the same measurement data, the redundant servo devices furthermore being in mutual communication so that each redundant servo device accesses, by reading, the last values of the variable produced by the redundant servo devices and implements a method for correcting the respective productions thereof by coupling. The invention thus prevents any divergence of these variables. Such a system may equip a vehicle with a load consisting of a driver, a passenger and/or goods or freight and comprising one or more actuators controlled in this way.