Dynamic System Control Method
First Claim
1. A method of using a position-velocity table to control a dynamic system, the method comprising the steps of:
- generating a position variable for the system;
determining a velocity command for the system using the position-velocity table and the position variable;
shaping the velocity command in order to generate a shaped velocity command; and
controlling the system based on the shaped velocity command, wherein the shaping step reduces unwanted vibrations in the dynamic system.
1 Assignment
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Accused Products
Abstract
Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.
7 Citations
39 Claims
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1. A method of using a position-velocity table to control a dynamic system, the method comprising the steps of:
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generating a position variable for the system; determining a velocity command for the system using the position-velocity table and the position variable; shaping the velocity command in order to generate a shaped velocity command; and controlling the system based on the shaped velocity command, wherein the shaping step reduces unwanted vibrations in the dynamic system. - View Dependent Claims (2, 3, 4, 5)
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6. A method of generating a trajectory for inclusion in a position-velocity table which is used to control a dynamic system, the method comprising the steps of:
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generating a trajectory for the dynamic system, the trajectory defining system velocity in terms of system position and one or more additional variables; storing the trajectory in a position-velocity table having N (N)2) dimensions; and controlling the dynamic system in accordance with the trajectory stored in the position velocity table. - View Dependent Claims (7, 8, 9)
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10. A method of controlling a dynamic system in accordance with a variation in a system variable, the method comprising the steps of:
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generating a plurality of trajectories defining system velocity in terms of system position; the plurality of trajectories being generated in accordance with at least one system variable; storing the plurality of trajectories in a single position-velocity table; detecting a value of the at least one system variable; and controlling the dynamic system in accordance with both the detected value of the system variable and the trajectories stored in the position-velocity table. - View Dependent Claims (11, 12, 13)
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14-29. -29. (canceled)
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30. A data storage device which uses a position-velocity table to control movement of a component of the data storage device, the data storage device comprising:
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a memory which stores the position-velocity table and computer-executable instructions; and a processor which executes the instructions stored in the memory so as (i) to generate a position variable for the component; (ii) to determine a velocity command for the component using the position velocity table, the processor determining the velocity command based on the position table; (iii) to shape the velocity command in order to generate a shaped velocity command to reduce unwanted vibrations resulting from movement of the component; and (iv) to control the component to move based on the shaped velocity command. - View Dependent Claims (31, 32, 33, 34)
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35. An apparatus which generates a trajectory for inclusion in a position-velocity table that is used to control a dynamic system, the apparatus comprising:
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a memory which stores computer-executable instructions and a position-velocity table having N (N>
2) dimensions; anda processor which executes the instructions stored in the memory so as (i) to generate a trajectory for the system, the trajectory defining system velocity in terms of system position in one or more additional variables, (ii) to story the trajectory in the position-velocity table, and (iii) to control the system in accordance with the trajectory stored in the position-velocity table. - View Dependent Claims (36, 37, 38)
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39-60. -60. (canceled)
Specification