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Multi-axis motion generator utilizing feedforward control

  • US 4,093,904 A
  • Filed: 02/04/1976
  • Issued: 06/06/1978
  • Est. Priority Date: 02/04/1976
  • Status: Expired due to Term
First Claim
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1. An electrical positioner for positioning a slave shaft in response to the position of a continuously rotating master shaft comprising:

  • a master shaft encoder providing a digital master shaft position indication;

    position determining means connected to said master shaft encoder and providing a digital slave shaft position in response to the digital master shaft position;

    a first digital storage connected to and storing the digital output of the associated position determining means;

    a second digital storage device;

    a shifting means for shifting the digital signal stored in said first storage device to said second storage device when said master axis position changes by one digital increment;

    a pair of digital-to-analog converters connected to said first storage device and said second storage device for converting the digital outputs to analog outputs;

    multiplying means for multiplying the outputs of said digital-to-analog converters by the signal related to the velocity of the master axis;

    subtractor means for subtracting the analog signals out of said digital-to-analog converters providing a velocity feedforward signal;

    the velocity feedforward signal is calculated for each incremental change in the digital master shaft position; and

    ,positioning means connected for positioning the slave shaft to the digital slave shaft position from said position determining means as function of the velocity feedforward signal.

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