Workpiece Transport Control Gain Adjustment via Load Calculation
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Solution Overview
Problem
Current workpiece transport systems face challenges in setting optimal control gains for feedback control, leading to prolonged transport times and limited accommodation of various workpieces, as they require pre-measurement of workpiece mass or switching between predefined control gains, which can increase system size and complexity.
Innovation Solution
A workpiece transport control system that calculates the transport load on a motion guidance device and adjusts the control gain accordingly, eliminating the need for separate mass measurement sensors and allowing for real-time adaptation to different workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If control gains are automatically adjusted by actually moving the moving member, then optimal control gain can be obtained, but transport time of workpiece is prolonged
Solution Approach 1:
The system performs preliminary measurement of the workpiece mass using a load cell before transport begins. Based on this pre-measured mass, the control gain is determined in advance without needing to actually move the moving member during gain adjustment. This resolves the contradiction by obtaining accurate control gains through preliminary action rather than through actual transport movement, thus maintaining transport time efficiency.
2Measurement precision
If control gains are switched based on pre-known workpiece mass, then optimal control gain can be set, but it is difficult to accommodate a wide variety of workpieces
Solution Approach 1:
The system dynamically determines control gains based on the actual measured mass of each workpiece rather than using fixed pre-set gains for specific workpiece types. The load cell continuously measures the actual mass, and the control gain is adjusted accordingly in real-time. This dynamic approach allows the system to accommodate any workpiece regardless of type or mass variation, resolving the contradiction between optimization and versatility.
3Measurement precision
If a load cell is used to measure workpiece mass and set control gain, then accurate mass measurement can be achieved, but the system size increases
Solution Approach 1:
The load cell is integrated into the existing structure of the moving member or support framework, merging the measurement function with the structural components. Rather than adding a separate, bulky measurement device, the load cell is incorporated into the load-bearing elements that already exist in the system. This resolving the contradiction by achieving accurate mass measurement without proportionally increasing system size through component integration.
Data Source
AI summary
To suitably set a control gain in feedback control while suppressing an increase in apparatus size. A workpiece transport control system includes: one or a plurality of motion guidance devices; a table on which a workpiece is to be placed; an actuator which imparts a driving force to the table; a control unit which performs transport control by feedback control; and a calculation unit which calculates a transport load applied from the workpiece to a moving member of each of the one or a plurality of motion guidance devices, wherein a control gain related to the feedback control in the transport control is adjusted on the basis of the transport load in each of the one or a plurality of motion guidance devices.