Servo Critical Point Locking Method for 360-Degree Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional servos are unable to lock positions accurately for 360 degrees due to dead zones near critical angle areas, leading to incorrect direction changes or loss of control when the target position is within these zones.
Innovation Solution
A critical point locking method for servos that computes a current target deviation, determines sudden changes in deviation, and modifies it using a predetermined constraint value to ensure continuous control, allowing the servo to lock positions without external circuits or sensor replacements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional position computation method is used, then the servo can operate normally in most areas, but the servo cannot lock position accurately in critical angle areas (dead zone)
Solution Approach 1:
The patent changes the parameter representation by detecting sudden jumps in position values (e.g., from 4095 to 0) and adjusting the deviation calculation accordingly. When a critical point is detected, the system modifies how deviation is computed to account for the wraparound nature of encoder values, enabling accurate position locking across the full 360-degree range.
2Ease of operation
If the servo uses conventional deviation computation, then the control is simple, but the servo may move in wrong direction or lose control when target position is near critical angle
Solution Approach 1:
The patent implements feedback by continuously monitoring position deviations and detecting sudden changes that indicate critical point passage. When such changes are detected, the system adjusts the deviation calculation to prevent incorrect direction commands. This feedback mechanism ensures reliable control while maintaining relatively simple operation.
3Measurement precision
If the servo locks angle near zero position, then the servo appears to be at target position, but actual angle may be shifted significantly causing large deviation
Solution Approach 1:
The patent applies preliminary action by detecting critical points in advance and pre-adjusting the deviation calculation before the servo encounters the wraparound issue. By monitoring for sudden position jumps and proactively correcting the deviation computation, the system avoids the complexity of handling large apparent deviations after they occur.
Data Source
AI summary
The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.