Servo Trajectory Generation with Phase Delay Prevention
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Solution Overview
Problem
Existing control devices for servo systems suffer from phase lag issues when removing high frequency components, leading to ineffective use of the range of movement in second servo control systems and requiring compensation in the first servo control system.
Innovation Solution
A control device that generates a first command trajectory by removing high frequency components from a reference trajectory without causing phase delay, allowing the second servo control system to effectively use its range of movement while maintaining adherence in the first servo control system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If low pass filter processing is performed to remove high frequency components and improve adherence of the first servo control system, then adherence is improved, but phase lag is generated causing ineffective use of the second servo control system's range of movement
Solution Approach 1:
The patent segments the trajectory into two distinct components: a first command trajectory for the first servo control system and a second command trajectory for the second servo control system. This segmentation allows each system to operate independently with optimized characteristics, resolving the contradiction between adherence and effective range utilization.
Solution Approach 2:
The patent extracts the high frequency components from the first command trajectory and assigns them to the second command trajectory. This extraction allows the first servo control system to operate with smooth, low-frequency motion for high adherence, while the second servo control system handles the high-frequency components to maintain effective range of movement utilization.
2Manufacturing precision
If phase lag is generated in the first trajectory to improve adherence, then adherence is improved, but the second servo control system cannot effectively use its range of movement
Solution Approach 1:
The patent introduces a trajectory generation unit that acts as an intermediary, processing the reference trajectory to create two separate command trajectories. This intermediary process eliminates phase lag by directly generating optimized trajectories for each servo control system without introducing delay, while still achieving high adherence through the first system's dedicated low-frequency trajectory.
3Manufacturing precision
If the first servo control system compensates for phase delay, then adherence is maintained, but the second servo control system's range of movement is not effectively utilized
Solution Approach 1:
The patent applies local quality by giving each servo control system a specialized trajectory type: the first system receives a smoothed trajectory optimized for adherence, while the second system receives a trajectory containing high-frequency components optimized for rapid response and full range utilization. This localized optimization resolves the contradiction between adherence and adaptability.
Data Source
AI summary
A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.