Servo Motor Command Smoothing With Dynamic Delay Time
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Solution Overview
Problem
Existing motor control systems face challenges in efficiently managing the positioning time of servo motors, particularly when the movement amount is small, leading to increased influence of delay time and potential vibration during positioning operations.
Innovation Solution
A command generation device and method that includes a delay time setting unit to adjust the delay time based on the movement amount, allowing for shorter delay times during small movement operations, thereby reducing vibration and shortening positioning completion time by calculating and smoothing intermediate data using a moving average filter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a fixed delay time is used for smoothing intermediate data, then vibration is reduced during positioning operations, but positioning completion time increases significantly for small movement amounts
Solution Approach 1:
The delay time is changed from a fixed value to a dynamic value that varies based on the movement amount. When the movement amount is small, a shorter delay time is applied; when the movement amount is large, a longer delay time is applied. This dynamic adjustment resolves the contradiction by optimizing the delay time for each specific operating condition rather than using a one-size-fits-all approach.
Solution Approach 2:
The delay time parameter is changed based on the movement amount parameter. By establishing a relationship where the delay time parameter adjusts according to the movement amount, the system achieves both vibration reduction (through smoothing) and efficient positioning completion (by avoiding excessive delay for small movements).
2Stability of the object's composition
If intermediate data is smoothed with a longer delay time, then command generation becomes smoother and vibration is prevented, but the positioning operation takes longer to complete
Solution Approach 1:
The delay time is dynamically adjusted based on the movement amount to balance command generation smoothness and positioning operation speed. For small movements, a shorter delay time maintains adequate smoothness while preserving speed. For large movements, a longer delay time provides sufficient smoothing without significantly impacting overall productivity.
Solution Approach 2:
By changing the delay time parameter according to the movement amount parameter, the system achieves optimal command generation smoothness for each operation scale while maintaining high positioning operation speed across different movement scenarios.
3Loss of time
If no smoothing is applied to intermediate data, then positioning completion time is minimized, but vibration occurs during positioning operations
Solution Approach 1:
The delay time parameter is dynamically set based on the movement amount to provide smoothing only when necessary. For small movements, minimal smoothing is applied to avoid vibration while maintaining fast positioning. For large movements, increased smoothing is applied to prevent vibration without significantly impacting positioning speed.
Solution Approach 2:
The delay time parameter is changed according to the movement amount to balance vibration prevention and positioning speed. This parameter adjustment ensures that smoothing is applied at the minimum necessary level to prevent vibration while preserving positioning completion time efficiency.
4Stability of the object's composition
If a fixed smoothing filter is used, then vibration is reduced across all operation types, but the system cannot optimize performance for different movement amounts
Solution Approach 1:
The smoothing filter is transformed from a fixed configuration to a dynamic one where the delay time parameter changes based on the movement amount. This allows the system to adapt the smoothing strength to match the operation scale, providing both consistent vibration reduction and optimized performance for different movement scenarios.
Solution Approach 2:
The delay time parameter of the smoothing filter is changed according to the movement amount, enabling the system to maintain vibration reduction consistency across all operations while simultaneously optimizing performance for specific movement amounts through parameter adaptation.
Data Source
AI summary
A command generation device to control a motor includes command input circuitry configured to receive a first command, first intermediate data calculation circuitry configured to calculate first intermediate data based on the first command, delay time setting circuitry configured to determine a delay time based on the first command, second intermediate data calculation circuitry configured to calculate second intermediate data by smoothing the first intermediate data based on the delay time, and command output circuitry configured to calculate, based on the second intermediate data, a second command according to which the motor is controlled. A first time period during which positioning the motor based on the first command is completed when the first intermediate data is smoothed is longer by the delay time than a second time period during which positioning the motor based on the first command is completed when the first intermediate data is not smoothed.