Apparatus and method for controlling actuator

• US 8,952,640 B2
• Filed: 02/15/2012
• Issued: 02/10/2015
• Est. Priority Date: 08/10/2011
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Lim, Seong-Taek, Cho, Jin-Woo, Ko, Jong-Sun
• Primary Examiner(s): Santana, Eduardo Colon
• Assistant Examiner(s): Mustafa, Iftekhar
• Application Number:
  US13/397,085
• Publication Number:
  US 20130038266A1
• Time in Patent Office: 1,091 Days
• Field of Search: 318/400.15, 318/400.02, 318/400.01, 318/77
• US Class Current: 318/400.15
• CPC Class Codes: G05B 13/04 involving the use of models or simulators
• CPC Class Codes: G05B 2219/41369 Two estimators
• CPC Class Codes: G05B 2219/41378 Estimate torque as function of speed, voltage and current
• CPC Class Codes: G05B 2219/41382 Observe position from encoder, estimate speed with ann
• CPC Class Codes: G05B 2219/41388 Observe input torque and feedback position, estimate reaction torque
• CPC Class Codes: G05B 2219/42044 Adapt model as function of difference between real and calculated position

Abstract

Provided is an actuator control apparatus including: an observer configured to estimate a state of a load based on a state equation including at least one modeled load parameter; a controller which outputs a signal for controlling the load; a compensation unit which compensates for the signal output from the controller; and an estimator configured to estimate a change of a load parameter, to decide a gain of the compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter.

Claims

1. An actuator control apparatus comprising:

an observation unit configured to estimate a state of a load based on an equation including at least one modeled load parameter;

a controller which outputs a signal for controlling the load;

a compensation unit configured to compensate for the signal output from the controller comprising;

a first compensator configured to increase or decrease an output signal of the controller;

a second compensator configured to increase or decrease position compensation information;

a third compensator configured to increase or decrease speed compensation information; and

an adder which adds an output of the second compensator to an output of the third compensator and adds a result of an addition to an output of the first compensator, thus outputting a final control signal; and

an estimator configured to estimate a change of a load parameter, to decide a gain of the compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter based on the estimated change of the load parameter.

2. The actuator control apparatus of claim 1, wherein the controller comprises at least one among a position controller which controls a position of the load, a speed controller which controls a speed of the load, and a torque controller which controls a torque of the load.

3. The actuator control apparatus of claim 1, wherein the observation unit comprises at least one of a speed observation unit configured to estimate a speed of the load and a torque observation unit configured to estimate a torque of the load.

4. The actuator control apparatus of claim 1, wherein the estimator estimates the change of the load parameter using an output of the observation unit and an output of the controller.

5. An actuator control apparatus comprising:

a speed observation unit configured to estimate a speed of a load based on a first state equation including at least one modeled load parameter;

a torque observation unit configured to estimate a torque of the load based on a second state equation including the modeled load parameter;

a speed controller which outputs a first signal for controlling the speed of the load;

a neural network unit configured to determine an output of the torque observation unit and outputs a second signal that is to be added to the first signal;

a parameter compensation unit configured to receive a third signal which is a sum of the first signal and the second signal and compensates for the third signal, thus outputting a final control signal comprising;

a first compensator configured to increase or decrease the third signal;

a second compensator configured to increase or decrease position compensation information;

a third compensator configured to increase or decrease speed compensation information; and

an adder which adds an output of the second compensator to an output of the third compensator and adds a result of an addition to an output of the first compensator, thus outputting the final control signal; and

a parameter estimator configured to estimate a change of a load parameter, to decide a gain of the parameter compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter of the speed observation unit and the torque observation unit based on the estimated change of the load parameter.

6. The actuator control apparatus of claim 5, wherein the speed observation unit outputs the speed compensation information corresponding to the estimated speed of the load, and the speed compensation information is provided to the torque observation unit, the speed controller, the neural network unit, the parameter compensation unit, and the parameter estimator.

7. The actuator control apparatus of claim 6, wherein the parameter estimator estimates the change of the load parameter using the third signal and the speed compensation information.

8. An actuator control apparatus comprising:

a speed observation unit configured to estimate a speed and a position of a load based on a first state equation including at least one modeled load parameter;

a torque observation unit configured to estimate a torque of the load based on a second state equation including the modeled load parameter;

a position controller configured to output a first signal for controlling the position of the load;

a neural network unit configured to determine an output of the torque observation unit and outputs a second signal that is to be added to the first signal;

a parameter compensation unit configured to receive a third signal obtained by adding the first signal to the second signal and compensate for the third signal, thus outputting a final control signal comprising;

a first compensator configured to increase or decrease the third signal;

a second compensator configured to increase or decrease position compensation information;

a third compensator configured to increase or decrease speed compensation information; and

an adder which adds an output of the second compensator to an output of the third compensator and adds a result of an addition to an output of the first compensator, thus outputting the final control signal; and

a parameter estimator which estimates a change of a load parameter, to decide a gain of the parameter compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter of the speed observation unit and the torque observation unit based on the estimated change of the load parameter.

9. The actuator control apparatus of claim 8, wherein the speed observation unit outputs speed compensation information corresponding to the estimated speed of the load, and position compensation information corresponding to the estimated position of the load,

the speed compensation information is provided to the neural network unit, the parameter estimator, and the parameter compensation unit, and

the position compensation information is provided to the torque observation unit, the parameter estimator, and the parameter compensation unit.

10. The actuator control apparatus of claim 9, wherein the parameter estimator estimates the change of the load parameter using the third signal, the speed compensation information, and the position compensation information.

11. An actuator control apparatus comprising:

a speed observation unit configured to estimate a speed and a position of a load based on a first state equation including at least one modeled load parameter;

a torque observation unit configured to estimate a torque of the load based on a second state equation including the modeled load parameter;

a neural network unit configured to determine an output of the torque observation unit and to output a load torque compensation value that is to be added to a torque command;

a torque controller which receives a value obtained by adding the torque command to the load torque compensation value and outputs a signal for controlling the torque of the load;

a parameter compensation unit configured to compensate for the signal output from the torque controller and to output a final control signal comprising;

a first compensator configured to increase or decrease an output signal of the torque controller;

a second compensator configured to increase or decrease the position compensation information;

a third compensator configured to increase or decrease speed compensation information; and

an adder which adds an output of the second compensator to an output of the third compensator and adds a result of an addition to an output of the first compensator, thus outputting the final control signal; and

a parameter estimator configured to estimate a change of a load parameter, to decide a gain of the parameter compensation unit based on the estimated change of the modeled load parameter, and to update the modeled load parameter of the torque controller, the speed observation unit, and the torque observation unit based on the estimated change of the load parameter.

12. The actuator control apparatus of claim 11, wherein the speed observation unit outputs speed compensation information corresponding to the estimated speed of the load, and position compensation information corresponding to the estimated position of the load,

the speed compensation information is provided to the neural network unit, the parameter estimator, and the parameter compensation unit, and

the position compensation information is provided to the torque observation unit, the parameter estimator, and the parameter compensation unit.

13. The actuator control apparatus of claim 12, wherein the parameter estimator estimates the change of the modeled load parameter using the third signal, the speed compensation information, and the position compensation information.

14. An actuator control method comprising:

estimating a state of a load based on a state equation including at least one modeled load parameter;

outputting a control signal for controlling the load;

compensating for the control signal by increasing or decreasing an output signal of a controller using a first compensator;

increasing or decreasing a position compensation information using a second compensator;

increasing or decreasing speed compensation information using a third compensator; and

adding an output of the second compensator to an output of the third compensator and adding a result of an addition to an output of the first compensator, thus outputting a final control signal; and

estimating a change of a load parameter, deciding a degree of compensation of the control signal based on the estimated change of the load parameter, and updating the modeled load parameter based on the estimated change of the load parameter.