Shaft Torque Controller Design for Integral Gain Precision
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Solution Overview
Problem
Conventional controller design methods based on generalized plants fail to accurately designate the integral gain of shaft torque controllers, affecting response performance and requiring additional control parameters, which complicates the design of shaft torque controllers for test systems.
Innovation Solution
A design method for shaft torque controllers that includes an integrator to calculate a first input by multiplying a designated integral gain, a non-integrator to calculate a second input, and a torque current command generator, integrated into a feedback control system with a generalized plant, allowing for precise control of integral gain and robustness against torque control and detection errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a controller is designed using a conventional generalized plant method with a weighting function including an integral property, then the control structure is established, but the integral gain of the controller cannot be accurately designated at the design stage
Solution Approach 1:
The controller is segmented into two distinct parts: an integrator unit that handles the integral gain calculation separately, and a non-integrator unit that processes other control functions. This segmentation allows the integral gain to be designated independently and accurately at the design stage, while maintaining the overall controller structure. The integrator unit receives the deviation signal and applies the designated integral gain, while the non-integrator unit processes the weighted deviation signal, enabling precise control over the integral gain parameter.
2Productivity
If the integral gain value is not accurately designated, then the controller can be implemented, but the response performance of the controller deteriorates
Solution Approach 1:
The integral gain value is predetermined and designated at the controller design stage, before actual implementation. The integrator unit is configured with this pre-designated integral gain value, so that when the controller is implemented, the response performance is immediately optimized without requiring subsequent tuning. This preliminary designation of the integral gain ensures that the controller achieves the desired response performance from the start.
3Reliability
If additional control parameters are required to compensate for the inability to designate integral gain, then the controller can function, but the device complexity increases
Solution Approach 1:
The integral gain function is extracted from the generalized plant design process and placed into a dedicated integrator unit. This extraction allows the integral gain to be designated independently without requiring additional control parameters in the generalized plant. The integrator unit operates with the pre-designated integral gain value, eliminating the need for complex parameter tuning and reducing the overall device complexity while maintaining controller functionality.
Data Source
AI summary
This design method is provided with a design process for a computer to design a μ controller satisfying a prescribed design condition in a feedback control system provided with the μ controller and a generalized plant. Set in the design process are: an integration operation amount calculation unit which calculates an integration operation amount; a summing unit which sums the output from the μ controller and the integration operation amount and generates an input to a nominal plant; a first control amount output port which outputs, as a first control amount output, an output obtained by multiplying the deviation input by a weight function Ge(s); and a second control amount output port which outputs, as a second control amount output, an output obtained by multiplying the output from the μ controller by a weight function Gip(s).