Servo Control Gain Adjustment for Oscillation Stabilization
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Solution Overview
Problem
Conventional servo control devices fail to automatically recover from unstable states during online automatic adjustment of the control system, leading to instability and potential damage.
Innovation Solution
A servo control device with a speed control loop that includes a speed command generation unit, torque command generation unit, speed detection unit, speed control gain setting unit, sinusoidal disturbance input unit, frequency characteristic calculation unit, and gain adjustment unit, which reduces the speed control gain and temporarily stops sinusoidal sweeps when instability occurs, allowing for stabilization and subsequent restart of adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If online automatic adjustment of control gains is performed to improve control system performance, then productivity and manufacturing precision are improved, but the control system may become unstable when gains are increased too much
Solution Approach 1:
The patent implements a feedback mechanism where the oscillation detection unit continuously monitors the control system for instability. When oscillation is detected, the system automatically reduces the control gain and stops the sinusoidal sweep, then restarts it after stabilization. This closed-loop feedback ensures that productivity improvements through automatic adjustment do not compromise system stability.
Solution Approach 2:
The control gain is made dynamic rather than static. The gain adjustment unit continuously modifies the control gain based on real-time system response and stability conditions. This dynamic adjustment allows the system to optimize performance while automatically preventing instability, resolving the contradiction between productivity improvement and reliability maintenance.
2Manufacturing precision
If the sinusoidal sweep is continuously applied to measure frequency characteristics and adjust gains, then measurement precision and manufacturing precision are improved, but the system cannot recover from unstable states
Solution Approach 1:
The patent applies preliminary anti-action by detecting oscillation before it leads to system failure. When the oscillation detection unit identifies instability, the system proactively reduces the control gain and stops the sinusoidal sweep to prevent further deterioration. This preventive measure ensures the system can recover automatically without human intervention, maintaining both measurement precision and reliability.
3Speed
If the control gain is increased to improve response speed and productivity, then speed and productivity are improved, but the control system becomes unstable and oscillates
Solution Approach 1:
The control gain is made dynamic rather than static. The gain adjustment unit continuously modifies the control gain based on real-time system response and stability conditions. This dynamic adjustment allows the system to optimize performance while automatically preventing instability, resolving the contradiction between productivity improvement and reliability maintenance.
Data Source
AI summary
A servo control device according to the present invention includes a speed command generation unit, a torque command generation unit, a speed detection unit, a speed control loop, a speed control gain setting unit for setting a speed control gain for the speed control loop, a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop, a frequency characteristic calculation unit, and a gain adjustment unit. When the speed control loop has fallen into an oscillation state and has become unstable owing to the increased speed control gain, the speed control gain is reduced and the sinusoidal sweep is temporarily stopped. After the speed control loop is stabilized using the speed control gain which is lower than in the unstable state, the sinusoidal sweep is restarted.