Simultaneous Speed PI and Filter Tuning for Torque Noise Reduction
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Solution Overview
Problem
In speed- or position-controlled applications, tuning controller parameters and filters to achieve high performance is challenging, especially for mechanics with compliant loads, as overly defensive settings result in performance loss, while aggressive settings can lead to oscillations, noise, instability, and system damage.
Innovation Solution
A control circuit with a controller and filter that are simultaneously adjustable, using a method involving measuring or estimating an output signal, determining the power density spectrum of the return signal, and limiting the control signal to prevent excessive power, allowing for rapid response without amplifying noise.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If controller parameters are tuned to be aggressive to achieve high performance, then control response speed is improved, but torque noise and system instability increase
Solution Approach 1:
The patent combines the controller parameter tuning and filter parameter tuning into a single integrated process. The controller and filter parameters are adjusted simultaneously based on a unified tuning criterion that considers both performance and noise levels, rather than treating them as separate optimization problems.
Solution Approach 2:
The patent changes the tuning parameters of both the controller and filter simultaneously based on measured system characteristics. By adjusting multiple parameters together rather than individually, the system achieves optimal performance while maintaining acceptable noise levels.
2Reliability
If controller parameters are tuned to be defensive to reduce torque noise, then system stability is improved, but control performance is lost
Solution Approach 1:
The patent merges the stability considerations and performance considerations into a single tuning framework. By simultaneously optimizing controller and filter parameters together, the system achieves a balanced solution that maintains stability while preserving control performance.
Solution Approach 2:
The patent uses measured system responses and performance metrics to guide the parameter tuning process. The tuning is based on actual system behavior rather than theoretical calculations, allowing the parameters to be adjusted to achieve both stability and performance goals.
3Productivity
If manual tuning is performed to optimize controller and filter parameters, then control performance can be improved, but commissioning time and expertise requirements increase
Solution Approach 1:
The patent enables the system to tune its own parameters automatically based on measured system characteristics. The controller and filter parameters are adjusted by the system itself rather than requiring external expert intervention, making the tuning process independent of operator skill level.
Solution Approach 2:
The patent replaces manual expert tuning with an automated measurement and adjustment process. Instead of relying on human expertise to manually adjust parameters, the system uses automated measurements of system response to determine optimal parameters.
Data Source
AI summary
A control circuit includes: a controller; a controlled system; and a filter for smoothing a return signal. The controller acts on the controlled system vis-à-vis a control signal and the return signal acts on the controller. The controller and the filter are simultaneously adjustable by an adjustment. In an embodiment, the adjustment is made on the basis of a method that includes: measuring or estimating an output signal as a measurement or estimate; transferring, using the measurement or estimate, the output signal into the return signal; determining a power density spectrum of the return signal; and limiting a control signal of the controller such that a power of the control signal does not exceed a predefined limiting value.