Smooth rotation by a galvanometer
First Claim
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1. A method for smoothly rotating an object to a desired position by use of an electric motor, comprising the steps of:
- calculating a series of discrete step signals simulating a smooth rotation of the object to the desired position by the electric motor, wherein an angular acceleration of the object is equal to a constant times a sine function of time; and
providing the step signals to drive the electric motor.
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Abstract
A method and device for smoothly rotating a diffraction grating in a spectrophotometer by means of a galvanometer includes modifications in the software in the microprocessor which controls the galvanometer. The software modifications cause the galvanometer to rotate the grating in a series of discrete steps that stimulate a smooth minimum jerk rotation. The amount of rotation in each discrete step is calculated by the microprocessor.
38 Citations
15 Claims
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1. A method for smoothly rotating an object to a desired position by use of an electric motor, comprising the steps of:
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calculating a series of discrete step signals simulating a smooth rotation of the object to the desired position by the electric motor, wherein an angular acceleration of the object is equal to a constant times a sine function of time; and providing the step signals to drive the electric motor. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for smoothly rotating an object to a desired position, comprising:
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motor means for rotating the object; and means for providing a series of discrete step signals for driving the motor means, wherein the step signals simulate a smooth rotation of the object to the desired position by the motor means, wherein an angular acceleration of the object is equal to a constant times a sine function of time. - View Dependent Claims (9, 10)
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11. A system for smoothly rotating an object to a desired position comprising:
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control means for generating analog step commands to move the object; means for moving the object; a position sensor for sensing a position of the object and generating a position sensor signal therefrom; means for damping the signal generated by the position sensor and generating a damped position sensor signal therefrom; first combining means for combining the analog step commands and said position sensor signal; a lag amplifier and a proportional amplifier connected in parallel for each receiving the combined analog step commands and said position sensor signal; and second combining means for combining the damped position sensor signal, and the output signals of the lag amplifier and proportional amplifier, and providing a resultant signal to the means for moving, so as to move the object with minimum jerk. - View Dependent Claims (12, 13, 14)
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15. A system for smoothly rotating an object to a desired position, comprising:
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control means for generating analog step commands to move the object; a filter for filtering the analog step commands; means for moving the object; a position sensor for sensing a position of the object and generating a position sensor signal therefrom; means for damping the signal generated by the position sensor and generating a damped position sensor signal therefrom; means for combining the filtered analog step commands and said position sensor signal; a feed forward circuit for feeding forward the filtered analog step commands; a lag amplifier and a proportional amplifier connected in parallel for each receiving the combined filtered analog step commands and the undamped signal from the position sensor signal; and means for combining the damped position sensor signal, the fed forward filtered analog step commands, and the output signals of the lag amplifier and proportional amplifier, and providing a resultant signal to the means for moving, so as to move the object with minimum jerk.
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Specification