Active human-machine interface system without a force sensor
First Claim
1. An active human-machine interface system, comprising:
- a user interface configured to receive user input and, upon receipt thereof, to move to a position;
a position sensor coupled to the user interface, the position sensor operable to sense user interface position and supply a position signal representative thereof;
a motor coupled to the user interface, the motor further coupled to receive motor current and operable, upon receipt thereof, to supply a feedback force to the user interface at a magnitude proportional to the motor current; and
a control circuit configured to control the motor current supplied to the motor, the control circuit comprising;
a counter coupled to receive the position signal and operable, in response thereto, to supply an absolute position signal representative of user interface absolute position,a force versus position determination function coupled to receive the absolute position signal and operable, in response thereto, to supply a force feedback signal representative of the feedback force,a differentiator coupled to receive the absolute position signal and operable, in response thereto, to supply a velocity signal representative of a rate of change of the absolute position,a damping factor function coupled to receive the velocity signal and operable, in response thereto, to supply a damping factor signal representative of a damping factor,a motor current command function coupled to receive the force feedback signal and the damping factor signal and operable, in response thereto, to supply a motor current command signal, anda commutation control function coupled to receive (i) the position signal, (ii) the signal representative of the motor current, and (iii) the motor current command signal and operable, in response thereto, to supply the motor current to the motor.
1 Assignment
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Accused Products
Abstract
An active human-machine interface system is implemented without a force sensor. The system includes a user interface that is configured to receive user input and, upon receipt thereof, to move to a position. A position sensor is coupled to the user interface and is operable to sense user interface position and supply a position signal representative thereof. A motor is coupled to the user interface and to receive motor current. In response to the motor current the motor supplies a feedback force to the user interface at a magnitude proportional to the motor current. A control circuit is coupled to receive at least the position signal and a signal representative of the motor current and controls the motor current supplied to the motor.
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Citations
15 Claims
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1. An active human-machine interface system, comprising:
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a user interface configured to receive user input and, upon receipt thereof, to move to a position; a position sensor coupled to the user interface, the position sensor operable to sense user interface position and supply a position signal representative thereof; a motor coupled to the user interface, the motor further coupled to receive motor current and operable, upon receipt thereof, to supply a feedback force to the user interface at a magnitude proportional to the motor current; and a control circuit configured to control the motor current supplied to the motor, the control circuit comprising; a counter coupled to receive the position signal and operable, in response thereto, to supply an absolute position signal representative of user interface absolute position, a force versus position determination function coupled to receive the absolute position signal and operable, in response thereto, to supply a force feedback signal representative of the feedback force, a differentiator coupled to receive the absolute position signal and operable, in response thereto, to supply a velocity signal representative of a rate of change of the absolute position, a damping factor function coupled to receive the velocity signal and operable, in response thereto, to supply a damping factor signal representative of a damping factor, a motor current command function coupled to receive the force feedback signal and the damping factor signal and operable, in response thereto, to supply a motor current command signal, and a commutation control function coupled to receive (i) the position signal, (ii) the signal representative of the motor current, and (iii) the motor current command signal and operable, in response thereto, to supply the motor current to the motor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An active human-machine interface system, comprising:
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a user interface configured to receive user input and, upon receipt thereof, to move to a position; a motor including a rotor and a stator, the rotor coupled to the user interface, the stator coupled to receive motor current, the motor operable, in response to the motor current supplied to the stator, to supply a feedback force to the user interface at a magnitude proportional to the motor current; a user interface position sensor coupled between the user interface and the motor and operable, to sense user interface position and supply a user interface position signal representative thereof; a rotor position sensor coupled to the motor rotor and operable to supply a rotor position signal representative thereof; and a control circuit configured to control the motor current supplied to the motor stator, the control circuit comprising; a counter coupled to receive the rotor position signal and operable, in response thereto, to supply an absolute position signal representative of user interface absolute position; and a force versus position determination function coupled to receive the absolute position signal and operable, in response thereto, to supply a force feedback signal; a differentiator coupled to receive the absolute position signal and operable, in response thereto, to supply a velocity signal representative of a rate of change of the absolute position; a damping factor function coupled to receive the velocity signal and operable, in response thereto, to supply a damping factor signal; a motor current command function coupled to receive (i) the force feedback signal and (ii) the damping factor signal and operable, in response thereto, to supply a motor current command signal; and a current sense and commutation control function coupled to receive (i) the user interface position signal, (ii) the absolute position signal, (iii) the signal representative of the motor current, and (iv) the motor current command signal and operable, in response thereto, to supply the motor current to the motor stator. - View Dependent Claims (13, 14, 15)
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Specification