Trajectory Control Command Interpretation for Speed-Accuracy Balance
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Solution Overview
Problem
Existing control systems face challenges in achieving both processing speed and control accuracy when following a target trajectory, as high accuracy requires extensive calculations, while low accuracy leads to deviations from the desired path.
Innovation Solution
A control apparatus and method that includes an instruction value output unit and a command interpreting unit, which sequentially interprets an application program to generate internal commands for motor control, allowing for adjustable passage points and intervals through special commands, optimizing processing speed and accuracy based on trajectory complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If high accuracy modeling is used for target trajectory calculation, then control accuracy is improved, but calculation time increases and processing speed deteriorates
Solution Approach 1:
The patent divides the target trajectory into multiple passage points at predetermined intervals, transforming a single complex calculation into multiple simpler segment calculations. This segmentation allows the system to maintain high control accuracy by calculating precise passage points while reducing overall calculation time by processing smaller, manageable segments sequentially
Solution Approach 2:
The patent pre-calculates and stores passage point information at predetermined intervals along the target trajectory before actual motor control execution. This preliminary action prepares calculation data in advance, reducing real-time computational burden and enabling faster processing during actual motor control while maintaining accurate trajectory following
2Productivity
If low accuracy modeling is used for target trajectory calculation, then processing speed is improved, but deviation from target trajectory increases
Solution Approach 1:
By segmenting the trajectory into discrete passage points at predetermined intervals, the system achieves accurate control without requiring excessively complex continuous calculations. Each segment can be calculated with sufficient precision while the overall processing remains fast due to the discrete, interval-based approach
3Manufacturing precision
If passage points are calculated at short intervals, then control accuracy is improved, but calculation load increases and may cause processing delays
Solution Approach 1:
The patent dynamically adjusts the interval between passage points based on trajectory complexity and control requirements. For complex trajectory sections, shorter intervals provide higher accuracy, while for simpler sections, longer intervals reduce calculation load. This dynamic adaptation optimizes the balance between control accuracy and processing speed in real-time
Data Source
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AI summary
Provided is a control apparatus (100) and a control method capable of satisfying the demand for both of processing speed and control accuracy in a case in which control following a target trajectory is executed by sequentially executing an application program. The control apparatus includes an instruction value output unit (168) that outputs an instruction value for each control period and a command interpreting unit (162) that sequentially interprets an application program and generates an internal command. The command interpreting unit calculates a passage point on the target trajectory for each period set in advance and generates the internal command in accordance with calculated passage points and changes a period at which the passage points are calculated to a length designated by a special command in a case in which the special command defined in advance is executed in the sequential interpretation of the application program.