Servomotor Compensation Control With Acceleration-Based Dead Band
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Solution Overview
Problem
Conventional servomotor controllers face challenges in reducing compensation delay and avoiding excessive friction resistance compensation, especially during startup and reverse rotations, due to the lack of effective dead band management.
Innovation Solution
A servomotor controller with a compensation start determining unit that includes a dead band unit, which sets a dynamic dead band range based on the acceleration amount of the servomotor, preventing compensation for minute reverse rotations and minimizing delay in compensation for larger rotations by adjusting the dead band range accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a dead band is provided to prevent compensation for static friction resistance, then unnecessary compensation is avoided, but compensation delay increases
Solution Approach 1:
The dead band range is made dynamic by changing it based on acceleration amount. When acceleration amount is large, the dead band range is reduced or eliminated, allowing immediate compensation. When acceleration amount is small, the dead band range is increased to prevent unnecessary compensation for static friction. This dynamic adjustment resolves the contradiction between avoiding unnecessary compensation and reducing compensation delay.
Solution Approach 2:
The patent changes the parameter of dead band range based on the acceleration amount parameter. By monitoring acceleration and adjusting the dead band threshold accordingly, the system adapts to different operational conditions, enabling timely compensation when needed while preventing unnecessary compensation when not needed.
2Reliability
If a fixed dead band range is used to prevent unnecessary compensation, then static friction compensation is avoided, but compensation delay increases during high acceleration
Solution Approach 1:
The system transitions from a fixed dead band range to a dynamic dead band range that adjusts based on real-time acceleration measurements. This allows the controller to maintain high response speed during high acceleration operations by reducing the dead band, while preventing unnecessary compensation during low acceleration by increasing the dead band.
Solution Approach 2:
The dead band range parameter is changed as a function of acceleration amount. This parameter adaptation enables the system to optimize both compensation precision and response speed by selecting appropriate dead band values based on current operational conditions.
Data Source
AI summary
The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.