Servo Motor Control Reducing Vibration via Jerk-Limited Waveforms
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Solution Overview
Problem
Conventional servo motor control systems face difficulties in restraining vibration and settling time at high speeds, making it challenging to operate motors with ideal tracks and synchronize multiple axes.
Innovation Solution
A motor control system that generates ideal command waveforms for jerk, acceleration, speed, and position, and regenerates these waveforms in real-time based on deviations, while implementing jerk limits to prevent excessive vibration and deviation, allowing for closed-loop control and synchronization of multiple axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the motor is operated at high speed, then productivity is improved, but vibration and settling time increase making control difficult
Solution Approach 1:
The system performs preliminary action by generating and storing ideal command waveforms (jerk, acceleration, speed, position) in advance before motor operation. These pre-calculated waveforms are stored in a waveform storage unit and retrieved during high-speed operation to maintain stability while achieving high productivity.
Solution Approach 2:
The system implements feedback by continuously comparing the actual motor position with the command position and regenerating command waveforms based on deviation amounts. The waveform regeneration unit uses this feedback to adjust future command waveforms, ensuring vibration control and settling time reduction even at high speeds.
2Device complexity
If conventional servo control with accumulated error pulse mode is used, then device complexity is reduced, but synchronization capability and ideal track operation become difficult
Solution Approach 1:
The system introduces an intermediary mechanism by using ideal command waveforms as a mediator between the control system and motor. These waveforms serve as a reference template that enables precise synchronization and ideal track operation without requiring complex accumulated error pulse mechanisms.
Solution Approach 2:
The system replaces the traditional mechanical accumulated error pulse control mechanism with a waveform-based control approach. By substituting the mechanical error accumulation method with pre-generated and regenerated command waveforms, the system achieves better synchronization capability while maintaining relatively simple device structure.
Data Source
AI summary
There is provided a motor control system and motor control method which can shorten settling time by restraining vibration and deviation relative to an advancing direction during operation. Moreover, according to the present invention, it is possible to cause a motor to be operated with an ideal track and, since it is possible to always monitor a present position, it is made easy to cause a plurality of axes to be synchronously operated. The motor control system is provided with a unit generating command waveforms from a jerk data which has significant effects on the vibration relative to the advancing direction, and a unit performing a real time real position control of regenerating future command waveforms according to a deviation amount, while always performing jerk-limit, whereby the vibration and the deviation relative to the advancing direction when the motor operates at high speed are restrained.