General purpose position control system having recursive profile generator
First Claim
1. A method for controlling the motion of an electric servomotor having an armature with armature-position control capability, utilizing an operating system for supplying electric current to the servomotor, the system being iteratively controlled to have a cycle, with a delay time of value tD, for effecting movement of the armature to desired positions, and including a motion generation component for defining an armature travel path comprised of said desired positions taken cumulatively;
- characterized in that the motion generation component carries out the following steps during each cycle of the operating system;
(a) receives current state signals that are representative of the current position "P" and the current velocity "V" of the armature, and the current time "T";
(b) receives target state signals that are representative of a desired armature position "PT ", a desired armature velocity "VT ", and a target time "TT " for achieving said desired position and desired velocity;
(c) calculates the remaining armature travel distance "D" required to achieve said desired position, equal to PT -P, using said current and target state signals;
(d) calculates the remaining time "t", equal to TT -T, using said current and target state signals;
(e) calculates the acceleration "a" required to achieve the state represented by said target state signals, where "a" is equal to the quantity (6D/t-2VT -4V)/t;
(f) calculates the sum of said current velocity V, added to the product of said acceleration a and said delay time tD, to determine a commanded velocity "VNEW ";
(g) calculates the sum of said current position P, added to the product of said commanded velocity VNEW and said delay time tD, to determine a commanded position "PNEW "; and
(h) generates signals indicative of said commanded velocity and said commanded position for use in said operating system for supplying electric current to effect movement of said motor armature;
said motion generation component functioning without utilizing any signal that is representative of any prior state of said armature, and without making inquiry as to changes in the state of said armature from a state prior to the current state.
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Accused Products
Abstract
The recursive profile generator of a general purpose position control system relies only upon current state and target state information in generating the path of movement for the armature of the servomotor. The profile generator employs a convergent algorithm for calculating the acceleration necessary to reach each control point or target position. By ignoring previous state information, the profile generator makes the use of reduced computing power possible and readily accommodates changing target state conditions.
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Citations
7 Claims
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1. A method for controlling the motion of an electric servomotor having an armature with armature-position control capability, utilizing an operating system for supplying electric current to the servomotor, the system being iteratively controlled to have a cycle, with a delay time of value tD, for effecting movement of the armature to desired positions, and including a motion generation component for defining an armature travel path comprised of said desired positions taken cumulatively;
- characterized in that the motion generation component carries out the following steps during each cycle of the operating system;
(a) receives current state signals that are representative of the current position "P" and the current velocity "V" of the armature, and the current time "T"; (b) receives target state signals that are representative of a desired armature position "PT ", a desired armature velocity "VT ", and a target time "TT " for achieving said desired position and desired velocity; (c) calculates the remaining armature travel distance "D" required to achieve said desired position, equal to PT -P, using said current and target state signals; (d) calculates the remaining time "t", equal to TT -T, using said current and target state signals; (e) calculates the acceleration "a" required to achieve the state represented by said target state signals, where "a" is equal to the quantity (6D/t-2VT -4V)/t; (f) calculates the sum of said current velocity V, added to the product of said acceleration a and said delay time tD, to determine a commanded velocity "VNEW "; (g) calculates the sum of said current position P, added to the product of said commanded velocity VNEW and said delay time tD, to determine a commanded position "PNEW "; and (h) generates signals indicative of said commanded velocity and said commanded position for use in said operating system for supplying electric current to effect movement of said motor armature;
said motion generation component functioning without utilizing any signal that is representative of any prior state of said armature, and without making inquiry as to changes in the state of said armature from a state prior to the current state. - View Dependent Claims (2, 3, 4)
- characterized in that the motion generation component carries out the following steps during each cycle of the operating system;
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5. A servomotor motion control system comprising:
- an electric motor having an armature, with armature-position control capability; and
an operating system for supplying electric current to said motor, iteratively controlled to have a cycle with a delay time of value tD, for effecting movement of said armature to desired positions, said operating system including a motion generation component that is constructed to carry out the following steps during each cycle of said operating system, and thereby to define an armature travel path comprised of said desired positions taken cumulatively;(a) receiving current state signals that are representative of the current position "P" and the current velocity "V" of said armature, and the current time "T"; (b) receiving target state signals that are representative of a desired armature position "PT ", a desired armature velocity "VT ", and a target time "TT " for achieving said desired position and desired velocity; (c) calculating the remaining armature travel distance "D" required to achieve said desired position, equal to PT -P, using said current and target state signals; (d) calculating the remaining time "t", equal to TT -T, using said current and target state signals; (e) calculating the acceleration "a" required to achieve the state represented by said target state signals, where "a" is equal to the quantity (6D/t-2VT -4V)/t; (f) calculating the sum of said current velocity V, added to the product of said acceleration a and said delay time tD, to determine a commanded velocity "VNEW "; (g) calculating the sum of said current position P, added to the product of said commanded velocity VNEW and said delay time tD, to determine a commanded position "PNEW "; and (h) generating signals indicative of said commanded velocity and said commanded position for use in said operating system for supplying electric current to effect movement of said motor armature, said motion generation component being devoid of a capability of utilizing any signal that is representative of any prior state of said armature, and being devoid of a capability of inquiry as to changes in the state of said armature from a state prior to the current state. - View Dependent Claims (6, 7)
- an electric motor having an armature, with armature-position control capability; and
Specification