Self-commissioning electronic motor controller determination
First Claim
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1. A method for calculating a derivative term in a closed-loop controller that receives position error information at each servo processing interval, the method comprising computer-implemented steps of:
- performing a self-commissioning process to compute a motor model that relates a motor control signal applied by a first controller to a motor to a motion of the motor, where the self-commissioning process is automatically performed in response to receipt of a first user input and the motor model is computed without requiring second user input, and the self-commissioning process includes;
determining a number of position error readings to be supplied to the closed-loop controller for use in computing a derivative term; and
supplying the determined number of position error reading to the closed-loop controller;
computing a derivative term in the closed-loop controller, where the computer-implemented steps of calculating the derivative term includes computer-implemented code for the computer-implemented steps stored on a computer-readable medium for;
recording three or more position error readings at different servo processing intervals;
computing a derivative estimate by;
summing two or more of the position error readings; and
subtracting an equal number of different position error readings than used in the summing step; and
thencomputing the derivative term based on the derivative estimate; and
generating a motor control signal based in part on the computed derivative term.
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Abstract
A control system for any type of electric motor that automatically learns the characteristics of the motor and computes a motor model for the motor. The control system uses the computed motor model to produce a closed-loop control design that achieves a particular resolution. The control system also uses the motor model to automatically construct efficient motion profiles for a variety of motion commands. The control system may also include an encoder interface device that provides highly accurate motor position information.
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Citations
2 Claims
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1. A method for calculating a derivative term in a closed-loop controller that receives position error information at each servo processing interval, the method comprising computer-implemented steps of:
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performing a self-commissioning process to compute a motor model that relates a motor control signal applied by a first controller to a motor to a motion of the motor, where the self-commissioning process is automatically performed in response to receipt of a first user input and the motor model is computed without requiring second user input, and the self-commissioning process includes; determining a number of position error readings to be supplied to the closed-loop controller for use in computing a derivative term; and supplying the determined number of position error reading to the closed-loop controller; computing a derivative term in the closed-loop controller, where the computer-implemented steps of calculating the derivative term includes computer-implemented code for the computer-implemented steps stored on a computer-readable medium for; recording three or more position error readings at different servo processing intervals; computing a derivative estimate by; summing two or more of the position error readings; and subtracting an equal number of different position error readings than used in the summing step; and
thencomputing the derivative term based on the derivative estimate; and generating a motor control signal based in part on the computed derivative term. - View Dependent Claims (2)
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Specification