Input and Remote Shaft Synchronization Using ECU Virtual Spring
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Solution Overview
Problem
Existing human-machine interfaces face challenges in accurately transmitting external inputs to remote elements and receiving feedback on position and torque without mechanical linkage, which can introduce time delays and offsets due to elastic deformations, and existing solutions do not effectively emulate a direct mechanical connection.
Innovation Solution
An electro-mechanical system that synchronizes torque and angles between an input shaft and a remote shaft, mimicking a direct mechanical connection by using an electronic control unit to emulate a torsion spring behavior, considering inertia and allowing for gearbox and servo-assisted steering emulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mechanical linkage is used to connect input device and controlled element, then direct physical connection is achieved, but wear and expensive bearings are required
Solution Approach 1:
The patent replaces the mechanical linkage system with an electro-mechanical system consisting of a first actuator, second actuator, and electronic control unit. The first actuator drives the input shaft, the second actuator drives the remote shaft, and the electronic control unit coordinates their motion to eliminate mechanical linkages, bearings, and associated wear problems while maintaining reliable force feedback transmission.
2Device complexity
If electro-mechanical control system is used to replace mechanical linkage, then wear is eliminated, but time delay and offset due to elastic deformations occur
Solution Approach 1:
The electronic control unit implements a feedback mechanism by receiving position information from both the input shaft and remote shaft, calculating the difference between their angular positions, and using this difference to control the second actuator. This closed-loop feedback system compensates for time delays and elastic deformation effects, maintaining position accuracy despite the electro-mechanical replacement of mechanical linkages.
Solution Approach 2:
The system calculates the angular position difference between the input shaft and remote shaft in advance and uses this pre-calculated information to control the second actuator. By performing the calculation of the angular difference and preparing the control signal beforehand, the system reduces response time and minimizes position offset during dynamic operation.
3Adaptability or versatility
If multiple motors are used to drive roller shafts at different speeds, then paper handling flexibility is improved, but synchronization between motors becomes difficult
Solution Approach 1:
The electronic control unit receives position information from both the input shaft and remote shaft and calculates the angular position difference in real-time. This feedback mechanism enables the system to maintain synchronization between the two shafts even when operating at different speeds or under varying load conditions, allowing flexible paper handling while preserving motor synchronization through continuous position monitoring and adjustment.
Data Source
Figure 1a)~1f)
Figure 2
Figure 3
AI summary
System to control an element mounted on a remote shaft (120) by an input device mounted on an input shaft (110) and delivering a feedback force from the controlled element to the input device wherein torques calculated by an ECU (130) and exerted to the input shaft (110) and to the remote shaft (120) are both functions of the difference of the angular positions (θ1,θ2) of the input shaft (110) and of the remote shaft (120) as measured by angle sensors (113, 123) wherein the angular positions (θ1,θ2) are weighted by a virtual spring constant (k) that emulates a mechanical connection between the input shaft (110) and the remote shaft (120).