Transmission Elasticity Control for Precise Driven Apparatus Motion
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Solution Overview
Problem
In power drive control systems, the delay in force transmission between a driving apparatus and a controlled apparatus due to elasticity leads to deviations in speed and position, resulting in low control accuracy and poor control effects, which are not adequately addressed by existing measurement methods.
Innovation Solution
A control method that calculates the corrected elastic coefficient and driving force to determine speed and rotational speed differences, deformation amounts, and transmission force, enabling precise control of the controlled apparatus by integrating sensor measurements with calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the force transfer process and motion states are measured using conventional sensors, then the control process can be implemented, but the measurement accuracy is low and control precision cannot be achieved
Solution Approach 1:
The patent replaces conventional mechanical measurement systems (sensors) with a mathematical model-based calculation system. The elastic coefficient model calculates speed and rotational speed differences, deformation amounts, and transmission forces through computational methods rather than physical sensing, thereby eliminating sensor measurement errors while reducing system complexity.
Solution Approach 2:
The patent transforms physical measurement parameters into computational parameters by using the elastic coefficient model. Instead of measuring speed differences and deformation amounts directly with sensors, the system calculates these parameters from the driving force and elastic coefficient through mathematical relationships, achieving higher precision without additional measurement devices.
2Reliability
If the transmission apparatus elasticity is considered, then the transmission delay can be accounted for, but the control accuracy deteriorates due to uncorrected speed deviations
Solution Approach 1:
The patent applies preliminary action by pre-establishing the elastic coefficient model that accounts for transmission elasticity effects. The model proactively calculates the speed and rotational speed differences caused by elastic deformation before they manifest as control errors, allowing the control system to compensate for transmission delays in advance rather than reacting to errors after they occur.
Solution Approach 2:
The patent implements feedback through the elastic coefficient model that continuously calculates the deformation amount and speed differences based on the driving force and transmission characteristics. This calculated feedback information is used to adjust the control commands, creating a closed-loop system that compensates for transmission delays and maintains control accuracy despite the inherent time lag in elastic force transmission.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves the accuracy of controlling the controlled apparatus by reducing the reliance on sensors, thereby lowering costs and enhancing the precision of position, speed, and force control.
Implementation Method 1
since a transmission apparatus has elasticity, there is a delay in transmission apparatus time of a driving force from being output by a driving apparatus to being received by a controlled apparatus
Data Source
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AI summary
A control method and apparatus for a controlled apparatus, and a storage medium. The method includes: obtaining a corrected elastic coefficient of a moving component in a transmission apparatus and a driving force of a driving apparatus (step S201); determining, according to the corrected elastic coefficient and the driving force, a speed difference value between a first speed of the driving apparatus and a second speed of a controlled apparatus, and a rotational speed difference value between a first rotational speed of the driving apparatus and a second rotational speed of the controlled apparatus (step S202); determining a deformation amount of the transmission apparatus according to the speed difference value or the rotational speed difference value (step S203); obtaining the first speed and the first rotational speed, determining the second speed according to the first speed and the speed difference value, and determining the second rotational speed according to the first rotational speed and the rotational speed difference value (step S204); determining a transmission force of the transmission apparatus according to the corrected elastic coefficient and the deformation amount (step S205); and controlling the controlled apparatus to move according to at least one of the deformation amount, the speed difference value, the rotational speed difference value, the second speed, the second rotational speed and the transmission force (step S206). Precise control of the controlled apparatus is achieved.