Servo Motor Encoder Disturbance Estimation for Real-Time Compensation
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Solution Overview
Problem
Existing motor control systems face challenges in achieving real-time disturbance estimation and compensation, leading to reduced control performance and potential dead time due to slower calculation cycles in controllers, which affect the frequency response and robustness against disturbances.
Innovation Solution
A motor control system where an encoder estimates disturbance torque based on rotational position and torque command, transmitting this information back to the controller for real-time compensation, utilizing faster calculation cycles to improve data real-time properties and expand disturbance estimation bands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If disturbance estimation is performed in the controller, then control performance is improved, but calculation cycle time increases causing dead time
Solution Approach 1:
The system divides the disturbance estimation function into separate modules: the encoder performs initial disturbance torque estimation based on position and torque command, while the controller performs secondary estimation using additional parameters. This segmentation allows the encoder to handle time-critical calculations independently, reducing the controller's calculation burden and eliminating dead time while maintaining improved control performance through combined estimation results.
2Reliability
If disturbance estimation is performed in the controller, then control performance is improved, but frequency response deteriorates
Solution Approach 1:
The encoder performs preliminary disturbance estimation calculations using position and torque command data before the controller processes the complete estimation. By pre-calculating the disturbance torque based on available data, the system prepares compensation information in advance, allowing the controller to apply corrections more rapidly and improving the overall frequency response while maintaining enhanced control performance.
3Loss of time
If faster calculation cycles are used in the encoder, then real-time properties are improved, but device complexity increases
Solution Approach 1:
The encoder acts as an intermediary that performs fast disturbance estimation calculations using position and torque command data, then transmits the results to the controller. This intermediary approach allows the encoder to handle time-critical calculations at high speed without requiring the controller to increase its calculation cycle frequency, thereby improving real-time properties while avoiding the need for complex high-speed controller hardware.
Data Source
AI summary
A motor control system includes a motor, an encoder, and a controller including a controller transmitter configured to transmit a torque command to control the motor. The encoder includes a position detector configured to detect a rotational position of the motor, an encoder receiver configured to receive the torque command from the controller transmitter, first disturbance estimating circuitry configured to estimate a first disturbance torque based on the rotational position and the torque command, and an encoder transmitter configured to transmit the rotational position and the first disturbance torque to the controller.