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Electric motor controller

  • US 20040135534A1
  • Filed: 01/14/2003
  • Published: 07/15/2004
  • Est. Priority Date: 01/14/2003
  • Status: Active Grant
First Claim
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1. A method for adapting a controller for use with a motor, the method comprising:

  • applying a control signal that causes the motor to change position over a period of time;

    recording the control signal over a period of time;

    recording position information of the motor over a period of time resulting from the application of the control signal;

    estimating a plurality of derivatives of position based on the recorded position information, wherein the plurality of derivatives includes both a first order derivative and a second order derivative;

    computing a motor model comprising the step of fitting the plurality of derivatives of position into a motor model equation that relates the control signal to motion of the motor;

    and supplying the motor model to the controller.

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