Servo Gain Sequencing for Stable Trajectory Tracking
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Solution Overview
Problem
Conventional servo control methods fail to balance feedback gain and feedforward gain effectively, leading to suboptimal trajectory trackability and stability due to uncontrolled settling times and potential vibration issues.
Innovation Solution
A servo control method that adjusts feedback gain first, followed by feedforward gain adjustments, with conditions to stop feedforward gain adjustments when torque is saturated or vibration is detected, ensuring balanced gains and improved trajectory trackability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If feedforward gain is set larger than feedback gain to improve trajectory trackability, then trajectory trackability is improved, but settling time becomes too short causing feedback gain to be insufficient and stability deteriorates
Solution Approach 1:
The patent applies preliminary action by first adjusting the feedback gain to an appropriate level before adjusting the feedforward gain. This sequential approach ensures that the feedback control foundation is established first, preventing the system from becoming unstable when feedforward gain is increased for improved trajectory trackability.
Solution Approach 2:
The patent implements dynamics by making the gain adjustment process adaptive and conditional. The feedforward gain adjustment is dynamically controlled based on torque saturation detection and vibration detection, allowing the system to optimize trajectory trackability while maintaining stability through real-time condition monitoring.
2Manufacturing precision
If feedforward gain is continuously increased to improve trajectory trackability, then trajectory trackability is improved, but torque saturation occurs causing unnecessary gain increases and potential instability
Solution Approach 1:
The patent applies feedback by continuously monitoring torque saturation during the feedforward gain adjustment process. When torque saturation is detected, the gain adjustment is automatically stopped, preventing unnecessary gain increases that would not improve trajectory trackability and could compromise control reliability.
3Manufacturing precision
If feedforward gain is increased to improve trajectory trackability, then trajectory trackability is improved, but vibration is generated during stoppage reducing system performance
Solution Approach 1:
The patent applies feedback by implementing vibration detection during the feedforward gain adjustment process. When vibration is detected during controlled object stoppage, the gain adjustment is automatically stopped, preventing the generation of harmful vibrations while maintaining acceptable trajectory trackability.
Data Source
AI summary
A servo control method includes a step of adjusting a feedback gain used in feedback control of a controlled object, the feedback control being performed based on difference information between a target value concerning an instruction and a feedback signal from the controlled object, so that the controlled object is operated by following the instruction, and a step of adjusting a feedforward gain used in feedforward control of the controlled object after the adjustment of the feedback gain.