Servo Control for Inclined Surface Grinding
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Solution Overview
Problem
Conventional servo control systems for grinding inclined surfaces require a tilt shaft, leading to limitations in high-speed movement and potential undershoot or overshoot issues due to torque constraints and sudden speed changes, especially when grinding conical surfaces.
Innovation Solution
A servo control system with two perpendicular swing shafts, utilizing position detection and correction units to calculate and adjust swing commands based on a reference angle and tilt angle, ensuring synchronized control of servo motors to prevent undershoot and overshoot by employing a sine wave-shaped swing command.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a tilt shaft is added to enable inclined surface grinding, then the grinding capability is improved, but the device complexity increases
Solution Approach 1:
The invention extracts and eliminates the tilt shaft from the system by implementing inclined surface grinding control through software algorithms on the existing two-swing-shaft configuration. The control unit calculates and adjusts swing commands to achieve inclined surface grinding without requiring additional mechanical components.
Solution Approach 2:
The invention replaces the mechanical tilt shaft with a computational control system. The control unit uses position detection feedback and calculated swing commands to achieve the same functional effect as a physical tilt shaft, substituting mechanical structure with electronic control and software algorithms.
2Productivity
If the grindstone is moved at high speed along the swing shaft, then the productivity is improved, but undershoot or overshoot occurs at turns
Solution Approach 1:
The invention applies preliminary action by pre-calculating swing commands using sine wave functions that inherently smooth out acceleration and deceleration at turns. The control unit generates swing commands that anticipate position changes, ensuring continuous and smooth motion that prevents undershoot and overshoot before they occur.
Solution Approach 2:
The invention implements dynamics by using sine wave-shaped swing commands that dynamically adjust the motion profile. This creates smooth, continuous acceleration and deceleration patterns that adapt to the swing motion requirements, eliminating sudden speed changes and maintaining position accuracy throughout the motion cycle.
3Area of stationary object
If the swing shaft moves back and forth with saw-tooth motion, then the grinding coverage is improved, but the moving speed suddenly changes causing undershoot or overshoot
Solution Approach 1:
The invention applies curvature by replacing the linear saw-tooth motion profile with a sine wave motion profile. This curved, continuous motion pattern eliminates the sharp corners and sudden direction changes inherent in saw-tooth motion, creating smooth transitions that maintain constant speed and prevent position errors.
Solution Approach 2:
The invention implements periodic action through sine wave-shaped swing commands that create smooth, cyclical motion patterns. This periodic sine wave motion replaces the abrupt saw-tooth cycles, providing continuous acceleration and deceleration that maintains speed consistency and prevents sudden changes at turns.
Data Source
AI summary
Servo control system includes a first repeat control unit for a first servo motor based on a reference angle and a first position error between a swing command and a position of the first servo motor, a multiplication unit which multiplies the swing command by a ratio according to a tilt angle of an inclined surface of a material to be ground to calculate a swing command after multiplication, and a second repeat control unit for a second servo motor based on a reference angle and second position error between the swing command after multiplication and a position of the second servo motor. The first and the second position error are respectively corrected, and driving of the first and the second servo motors are controlled based on the corrected first and second position error, thereby grinding the inclined surface of the material.