Servo Motor Vibration Damping With Phase Delay Compensation
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Solution Overview
Problem
Existing motor control systems face challenges in achieving desired response characteristics due to resonance/anti-resonance characteristics of machines with low rigidity, leading to vibration at machine ends. Current damping control methods, especially when implemented in the servo motor controller for speed control systems, suffer from response delays.
Innovation Solution
A motor controller device that includes a position control system and a vibration controller in the speed control system. This device processes speed directives to estimate location directives, extracts frequency components that excite machine end vibration, and uses a phase regulator to improve response delays caused by damping control, ultimately generating a second speed directive that removes these frequency components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If damping control is implemented in the servo motor controller for speed control systems, then vibration at machine end can be suppressed, but response delay occurs
Solution Approach 1:
The patent applies preliminary action by estimating the location directive from the speed directive before processing it through the damping control. This allows the system to prepare the position information in advance, reducing the overall response delay while maintaining effective vibration suppression through the subsequent damping control processing.
Solution Approach 2:
The patent replaces traditional mechanical damping control approaches with a signal processing-based solution. By using a parallel vibration damping controller that processes control signals rather than physically modifying the mechanical system, the invention achieves vibration suppression with reduced response delay characteristic of electronic control systems.
2Object-affected harmful factors
If a parallel vibration damping controller is used to extract frequency components, then vibration suppression is achieved, but phase delay is introduced
Solution Approach 1:
The patent introduces a phase regulator as an intermediary component between the parallel vibration damping controller and the control output. This phase regulator compensates for the phase delay introduced by the damping controller, effectively canceling out the negative effect while preserving the vibration suppression capability.
Solution Approach 2:
The patent applies parameter changes by adjusting the phase characteristics of the control signal through the phase regulator. By dynamically modifying the phase parameter of the control signal, the system compensates for the phase delay introduced by the vibration damping control, thereby improving response speed without sacrificing vibration suppression effectiveness.
Data Source
AI summary
A motor-controller device includes a position control system that controls the position of a machine end connected to the motor. The motor-controller device receives a first speed directive from a high-level controller, stored in the position control system to output a motor axis position response to the high-level controller, including speed controller and vibration controller in speed control system. The vibration controller includes a position-command estimator that calculates an estimate of the location directive based on the first speed directive and the motor axis position response, a parallel vibration damping controller that extracts frequency components that excite vibration of the machine end included in the first speed directive based on the estimated value of the location directive, and outputs the extracted frequency components.