X-ray Imaging Apparatus Torque Position Control Switching
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Solution Overview
Problem
Conventional X-ray imaging apparatuses experience decreased operability when manually moving the X-ray tube or detector, as the assistive force is indirect, leading to a strange operating feel and reduced precision.
Innovation Solution
An X-ray imaging apparatus with a controller that switches between torque control mode for manual movement assistance and position control mode for precise auto positioning, using a motor with a moving mechanism and operating force detector to adjust assist based on detected manual movement, allowing direct force assistance and high-precision positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position control is used for manual movement assistance, then positioning precision is improved, but operability deteriorates due to indirect force assistance
Solution Approach 1:
The control mode is dynamically switched between position control mode and torque control mode based on the operation state. When manual movement is detected, the system switches to torque control mode to provide direct force assistance and improve operability. When automatic positioning is required, it switches to position control mode to ensure positioning precision. This dynamic switching resolves the contradiction by adapting the control strategy to the specific operational context.
Solution Approach 2:
The control parameter is changed from position-based control to torque-based control when manual movement is detected. This parameter change allows the system to provide direct force assistance through torque control, making the manual operation feel more natural and improving operability while maintaining the ability to achieve precise positioning when needed.
2Ease of operation
If torque control is used for manual movement, then operability is improved through direct force assistance, but positioning precision may deteriorate
Solution Approach 1:
The system dynamically switches control modes based on operational needs. Torque control mode is activated during manual movement to provide direct force assistance and improve operability. Once the desired position is reached or automatic positioning is initiated, the system switches to position control mode to ensure precise positioning. This dynamic switching ensures that torque control's operability benefits are realized without sacrificing positioning precision.
Solution Approach 2:
The control mode switching ensures continuous useful action by seamlessly transitioning between torque control and position control. The system maintains operational benefits during manual movement while ensuring positioning precision is achieved through the continuous availability of position control mode, eliminating the trade-off between operability and precision.
3Measurement precision
If position control is used for auto positioning, then positioning precision is improved, but system complexity increases
Solution Approach 1:
A single motor is designed to perform multiple functions by switching between position control mode and torque control mode. This multi-functionality allows the motor to provide both direct force assistance during manual movement and precise positioning during automatic positioning, reducing the need for separate mechanisms and thereby lowering overall system complexity while maintaining positioning precision.
Solution Approach 2:
The control parameter is switched between torque and position based on operational mode. This parameter change allows one motor to effectively perform the work of two different control strategies, simplifying the system architecture while maintaining the ability to achieve high positioning precision when needed.
Data Source
AI summary
An X-ray imaging apparatus includes an X-ray tube, an X-ray detector, a moving body movable in a predetermined direction, a moving mechanism, a motor, an operating force detector configured to detect an operating force, and a controller configured or programmed to perform mode switching control to switch, based on whether or not an operation to enable manual movement of the moving body has been detected, a control mode to a torque control mode or a position control mode.